Telescoping arm #14
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Telescoping arm #14
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kmlewis361
commented
Mar 10, 2023
| @@ -142,25 +144,28 @@ public void robotPeriodic() { | |||
| @Override | |||
| public void autonomousInit() { | |||
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| armTelescopingSubsystem.setTState(TelescopingStates.SHELF_ARM_LENGTH); //moved from auto periodic to init | |||
There was a problem hiding this comment.
Probably keep this?
kmlewis361
commented
Mar 10, 2023
| armTelescopingSubsystem.init(); | ||
| armTelescopingSubsystem.telescopingMotor.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs); //VERY VERY IMPORTANT |
kmlewis361
commented
Mar 10, 2023
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| //m_drivetrainSubsystem.m_frontLeftModule.getCANCoder().getPosition(); | ||
| // System.out.println("Error code" + m_drivetrainSubsystem.m_frontLeftModule.getCANCoder().getLastError()); | ||
| System.out.println("current pose: " + DrivetrainSubsystem.m_pose.getX() + " , " + DrivetrainSubsystem.m_pose.getY()); | ||
| m_autoSelected = m_chooser.getSelected(); |
kmlewis361
commented
Mar 10, 2023
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| //m_drivetrainSubsystem.m_frontLeftModule.getCANCoder().getPosition(); | ||
| // System.out.println("Error code" + m_drivetrainSubsystem.m_frontLeftModule.getCANCoder().getLastError()); | ||
| System.out.println("current pose: " + DrivetrainSubsystem.m_pose.getX() + " , " + DrivetrainSubsystem.m_pose.getY()); | ||
| m_autoSelected = m_chooser.getSelected(); | ||
| m_autoSelected.init(); |
kmlewis361
commented
Mar 10, 2023
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| armTelescopingSubsystem.periodic(); | ||
| m_autoSelected.periodic(); |
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