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Elevator subsystem #16

Merged
merged 25 commits into from
Feb 9, 2024
Merged

Elevator subsystem #16

merged 25 commits into from
Feb 9, 2024

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gordonbchen
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Description

Add elevator subsystem.

Type of change

  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to not work as expected)
  • Bugfix (non-breaking change which fixes an issue, add DEF # above in description)
  • Environment change (changes to developer environment or CI configuration)
  • Documentation Update (if none of the other choices apply)

How Has This Been Tested?

Tested by running elevator and watching elevator position in shuffleboard.

Author Checklist:

  • I have performed a self-review of my code
  • I have added 1-2 reviewers
  • I have @mentioned relevant non-reviewers as an FYI
  • I have included a detailed description of my changes and their motivations

Devallex and others added 25 commits January 25, 2024 18:20
@Devallex
Create Climber Subsystem
c4dd6be
@Devallex
Removed un-needed imports
c79915f
@Devallex
Replace Climber subsystem with Elevator
eb690f4
@Devallex
Make instance static
dcb7d72
@Devallex
Remove junked code
ade8d61
@Devallex
Swap incorrect elevator length variable
f95dc75
@Devallex
Rename susystem Elevator -> Arm
79dad0d
@Devallex
Create Latch Subsystem
7dfe9ee
@Devallex
Add Command: LatchSetOpen
4e2ca7c
@Devallex
Add Command: ArmSetTargetPosition
0eca659
@Devallex
Add Command: ArmSetTargetPositionMax
40704c0
@Devallex
Add Command: Elevator Climb
69d688d
@Devallex
Add Command: ElevatorPrepareClimb
1820a71
@Devallex
Add Command: Elevator Reset
98b1683
@Devallex
Add Command: Elevator Retract
3732bc2
@gordonbchen
clean up elevator code
2313e66 
- remove latch subsystem
- remove commands
@gordonbchen
Merge branch 'main' into gordon/janitor/climber
2bcff41
@gordonbchen
fix elevator climber ids
45a7a42
add physical measurements
d90c7b6 
- gear ratio
- output pitch radius
- max extension
@gordonbchen
add elevator todos
3ca6d7f
@gordonbchen
reduce elevator command extension
8d59066
@gordonbchen
use inches instead of meters for elevator
05d5a08
@gordonbchen
add PID config method for fast tuning
7fcd3b6
@gordonbchen
always use hold position feed forward for shoulder
8e59a49
tune elevator pids
b96a2ce
CJc318
CJc318 approved these changes Feb 9, 2024
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@CJc318 CJc318 left a comment

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Looking good, no issues as far as i can see and it ran well

@gordonbchen gordonbchen merged commit 223d78b into main Feb 9, 2024
1 check passed
@gordonbchen gordonbchen deleted the gordon/janitor/climber branch February 9, 2024 16:59
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@CJc318 CJc318 CJc318 approved these changes

@SuitedMoose SuitedMoose Awaiting requested review from SuitedMoose

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3 participants
@gordonbchen @CJc318 @Devallex