Bringup main robot
This gets all mechanisms zeroed and running.
Many profiles are still heavily detuned.
Catapult motors are moved to the CANivore bus.
Change-Id: I38a1845f804bd490d5fff285c636010ac8ea2c27
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/superstructure/superstructure_position.fbs b/y2024/control_loops/superstructure/superstructure_position.fbs
index 4f4b75b..b1facba 100644
--- a/y2024/control_loops/superstructure/superstructure_position.fbs
+++ b/y2024/control_loops/superstructure/superstructure_position.fbs
@@ -5,11 +5,14 @@
table Position {
// Values of the encoder and potentiometer at the intake pivot
- // Zero is extended outwards and level, positive is retracted inward.
+ // Zero is when the lowest extent of the lexan is level with the
+ // bellypan, positive is retracted inward.
intake_pivot:frc971.AbsolutePosition (id: 0);
// Values of the encoder and potentiometer at the turret
- // Zero is facing forward, positive is rotated right.
+ // Zero is facing backwards, positive is rotated counter-clockwise.
+ // I.e., zero is at approximately the loading position for getting
+ // the game piece from the extend into the catapult.
turret:frc971.PotAndAbsolutePosition (id: 1);
// Values of the encoder and potentiometer at the altitude
@@ -17,22 +20,25 @@
altitude:frc971.PotAndAbsolutePosition (id: 2);
// Values of the encoder and potentiometer at the catapult
- // Zero is edge of pivot plate parallel to edge of gusset.
- // Positive is rotated counter-clockwise, to launch game piece.
+ // Zero is when the note is fully seated in the catapult and the catapult
+ // arm is just touching the note. Positive is rotated counter-clockwise, to
+ // launch game piece.
catapult:frc971.PotAndAbsolutePosition (id: 3);
// True means there is a game piece in the transfer.
transfer_beambreak:bool (id: 4);
// Values of the encoder and potentiometer at the climber.
- // Zero is fully retracted, positive is extended upward.
+ // Zero is fully extended, with top of the highest slider aligned with the
+ // caps on the tubes for the climber.
+ // Positive is more extended.
climber:frc971.PotAndAbsolutePosition (id: 5);
// True if there is a game piece in the catapult
catapult_beambreak:bool (id: 6);
// Values of the encoder and potentiometer at the extend motor
- // Zero is fully retracted, positive is extended outward.
+ // Zero is fully retracted, positive is extended upward.
extend:frc971.PotAndAbsolutePosition (id: 7);
// True means there is a game piece in the extend.