Smart Intake Retraction Command#386
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aschokking
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aschokking
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If you tested it in the sim, please include a video of it working (even if the high current is never detected) just so we can see the base logic working
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| log.info("Initialized IntakeDeploySmartRetraction"); |
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⭐ ⭐ ⭐ does stop time need to be reset to 0 here?
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Same thing with isReadyToOscillate?
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⭐ ⭐ ⭐ I'm not sure this is going to work, were you able to test it in the sim? I don't see where it ever increases the position of the arm to try and find the point the balls are?
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I tried modeling off the regular retract command. My thought process was that it would retract and reach a high current usage once it gets stuck. It would then stop for a moment and move on to an oscillating motion from where it stopped.
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@aschokking Thinking about simplicity, would an equation like y = mx + b match the effect this is trying to achieve, where y is the output power, x is the current, m is to scale current to power, and b is the baseline output? |
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that would be exponential (if you multiple by m each time). The real simplicity is just adding a small amount each cycle like the existing close while firing commands do. |
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