For tracking changes in game robot: Post sfr #59
Conversation
| // String logfolder = "/home/lvuser"; | ||
| // Logger.addDataReceiver(new WPILOGWriter(logfolder)); | ||
| // Logger.addDataReceiver(new NT4Publisher()); | ||
| // Logger.start(); | ||
|
|
||
| //SignalLogger.enableAutoLogging(true); | ||
| //SignalLogger.start(); | ||
| SignalLogger.setPath("/home/lvuser/log/"); |
There was a problem hiding this comment.
Do we want these in the code during game time?
Do we want this for all containers, even the test ones?
|
|
||
| DataLogManager.start(); | ||
| DriverStation.startDataLog(DataLogManager.getLog()); | ||
|
|
||
| UtilMath.overhand.put(1.33, 236d); //S2 |
There was a problem hiding this comment.
This should be initialized in the arm subsystem, since that's the user. Code in Robot class should be very generic.
| @@ -17,7 +18,7 @@ public class ScoreInTrapStutter extends SequentialCommandGroup { | |||
| public ScoreInTrapStutter(PizzaBoxSubsystem pizzaBoxSubsystem, ArmSubsystem armSubsystem) { | |||
| addCommands( | |||
| new PrintCommand("Score in trp stutter initialize"), | |||
| new SpinToArmAngle(armSubsystem, ArmSubsystem.Arm.TRAP_ANGLE).withTimeout(3)); | |||
| new SpinToArmAngle(armSubsystem, ArmSubsystem.Arm.TRAP_ANGLE).withTimeout(3)); | |||
|
|
|||
|
|
|||
| for(int index = 0; index < 8; index++) | |||
There was a problem hiding this comment.
Do we still want 8 tries?
| @@ -11,8 +11,8 @@ | |||
| public class Retract extends Command { | |||
| /** Creates a new Retract. */ | |||
| private final ReactionSubsystem m_Subsystem; | |||
| private double currPos; //position in rotation | |||
| private double endPos; | |||
| //private double currPos; //position in rotation | |||
There was a problem hiding this comment.
it's OK to delete dead code
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { |
There was a problem hiding this comment.
I wish we had a direct way to do this.
| speed = 0; | ||
| } | ||
|
|
||
| if(booster) |
There was a problem hiding this comment.
I would do the booster check earlier, so the sanity checks around encoder angle will win.
There was a problem hiding this comment.
Also should the booster work in both directions? here, it's only the positive value, even if the arm should be moving the other direction
| @@ -70,7 +67,7 @@ public SwerveSubsystem(File directory) | |||
| System.out.println("}"); | |||
|
|
|||
| // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created. | |||
| SwerveDriveTelemetry.verbosity = TelemetryVerbosity.NONE; | |||
| SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH; | |||
There was a problem hiding this comment.
Do we want this as HIGH for game day?
| @@ -81,7 +78,7 @@ public SwerveSubsystem(File directory) | |||
| { | |||
| throw new RuntimeException(e); | |||
| } | |||
| swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle. | |||
| swerveDrive.setHeadingCorrection(true); // Heading correction should only be used while controlling the robot via angle. | |||
There was a problem hiding this comment.
I'm curious how this drives
This PR will give observers notification of new code on game branch, and help review code