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truher
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Feb 12, 2026
| public IncrementalProfileReferenceR1( | ||
| LoggerFactory parent, | ||
| Supplier<IncrementalProfile> profile, | ||
| TrapezoidIncrementalProfile profile, |
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you should undo this change. use a supplier, i.e. ()->profile.
| RotaryMechanism mech, | ||
| ProfileReferenceR1 ref, | ||
| FeedbackR1 feedback) { | ||
| ProfileReferenceR1 ref) { |
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you should undo this change
| m_log_velocity_error.log(() -> currentUnwrappedSetpoint.v() - unwrappedMeasurement.v()); | ||
| } | ||
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| public void setPosition(double mLevel1) { |
| private void setL0() { | ||
| m_motor.setUnwrappedPosition(0, 0, 0, 0); | ||
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| m_servo.setPosition(0); |
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change this (and the others) to setPositionProfiled.
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| public Command setClimb0() { | ||
| return run(this::setL0); | ||
| return runOnce(this::setL0); |
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this should be "run".
the difference is that "runOnce" executes the lambda once on command initialize and then never does anything else. you want this lambda (which is ultimately "set position") to run on each iteration until it's finished.
| new PIDConstants(log, 0, 0, 0, 0, 0, 0)); | ||
| IncrementalBareEncoder encoder = m_motor.encoder(); | ||
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| TrapezoidIncrementalProfile profile = new TrapezoidIncrementalProfile(log, 1, 2, 0.05); |
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you can pull the common elements (e.g. the profile) out of the switch statement
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