Temporarily set talon to disabled before giving a new setpoint in motionmagic mode #74
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
One possible point of failure - will this correctly handle e.g. swerve rotation where we're likely to give it a new setpoint before it has reached the current one. Does the motion magic code use 0 as the starting velocity or does it get it from encoder data when coming out of disabled? |
in motionmagic mode. Hopefully this will cause the talon to path from current encoder value to new setpoint instead of current behavior of pathing from current setpoint to new one
kjaget
force-pushed
the
motion_magic_setpoint
branch
from
1e3d620
to
b3cf432
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Hopefully this will cause the talon to path from current encoder value to new setpoint instead of current behavior of pathing from current setpoint to new one
The current behavior seems to be that it assumes it hit the previous setpoint, or if interrupting motion, it is where it thinks it is along the current trajectory. This seems to lead to accumulated error when this is not the case - for example when tuning PID values and the mechanism isn't tracking correctly.
The behavior when disabling and reenabling the robot looks like on the first setpoint after reenable, a new path is generated from the actual encoder position to the desired setpoint. This PR will attempt to recreate that behavior for every new setpoint given to the talon.
NEEDS TO BE TESTED ON HARDWARE BEFORE MERGING. YOU HAVE BEEN WARNED.