Ability to reposition arm in disabled state

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Name

GC

Feature Description

Whilst the robot is in the disabled state, have the ability to release the vertical extension brake to allow repositioning of the arm, reapplying the brake once it is repositioned. This will allow repositioning without power cycling the robot when setting up for a match. If we require a power cycle after setup (eg, if they are picky about being inside frame perimeter) then it may cause friction with field staff and if it happens a few times may result in use being disablesd for a match.

Feature Timeline

No

Expected behavior

Hold down both left and right rear button on the X-box controller and brake is released, once the buttons are no longer pressed then the brake reapplies.

Justification

Improve speed of setup if there are issues.
Improve interaction with field volunteers

Possible implications

Need to find a button combination that doesn't conflict (although very few, if any, buttons are used in disabled mode)

Implimentation

Detect buttons in disabledPeriodic in Robot.java and call the brake set/release methods in vertical extension.

Importance

Medium (eg. drivers need a button swapped)

Additional information & file uploads

No response