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e-bauman
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e-bauman
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main thing is to move the configs into constants.py
subsystems/Intake / Hopper/Intake.py
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| def zero_pivot(self): | ||
| self.pivot_angle = ( | ||
| (self.encoder.get_absolute_position().value)) |
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prettty sure phoenix automatically zeroes if you set up the config properly
e-bauman
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e-bauman
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looks pretty good, I had a few small notes. please also add docstrings, then you can start working on commands
subsystems/Intake / Hopper/Intake.py
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| self.pivot_motor.set_position(self.target_angle) | ||
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| def update_table(self): | ||
| self.zeroedpub.set(self.pivot_motor_zeroed) |
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you probably don't need to constantly update this value, you can just set it one time when the intake is zeroed and then it will remain like that indefinitely
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wait when does the intake get zeroed then if phoenix zeros it automatically in configs..............
how puzzling.....
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I would look in the documentation to find out more info about the auto zeroing since I don't really know how it works tbh
subsystems/intake/subsystem.py
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| return self.horizontal_motor.get_supply_current() | ||
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| """ | ||
| def zero_pivot(self): | ||
| self.pivot_angle = ( | ||
| (self.encoder.get_absolute_position().value)) | ||
| pos = self.pivot_angle | ||
| self.pivot_motor.set_position(pos) |
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look into auto zeroing in the documentation
i sincerely DOUBT this works
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draft for intake subsystem