Wrist initial code #27
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…rom yesterday. also added motor and encoder ports to the list
| BaseStatusSignal.refreshAll(wristPosition, wristVelocity, wristCurrent, | ||
| wristTemp, wristVoltage); | ||
| //Not sure if this is the fastest way to get encoder pos | ||
| //needs optimization!!!!!! |
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Split this into wristRelativePosition and wristAbsolutePosition, and then update accordingly
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What do you set the different positions to? Is relativePosition relative to the ground, and if so would you then set that to its position + the arm's position and keep absolute as wristMotor.getPosition()?
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Nvm I think I can figure it out based on the arm class
| public double getWristDegrees() { | ||
| //may need to add arm degrees here | ||
| return inputs.wristPosition; | ||
| } |
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This returns wrist rotations
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| BaseStatusSignal.setUpdateFrequencyForAll(50, wristPosition, wristVelocity, wristVoltage, wristCurrent, wristTemp); | ||
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| wristMotor.optimizeBusUtilization(); |
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do this for the encoder as well
| } | ||
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| public void setPosition(double position){ | ||
| wristMotor.setControl(motionMagicControl.withPosition(position).withSlot(0)); |
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.withEnableFOC(true).withOverrideBrakeDurNeutral(true) 😉
| //may need to add arm degrees here | ||
| return inputs.wristPosition; | ||
| } | ||
| } |
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you need to add a way to call the IO methods since WristIO is private (and should stay that way)
| double currentTime = Timer.getFPGATimestamp(); | ||
| io.setPosition(positionInDegrees); | ||
| Logger.recordOutput("Wrist target position", positionInDegrees); | ||
| } |
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maybe do this in superstructure
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we don't want any subsystem specific functions to be intrinsically reliant on another subsystem, aside from vision processing
-fixed getWristDegrees method to actually get degrees instead of rotations -split position status signal into absolutePosition and relativePosition -made other changes amber suggested (thanks amber!) -deleted setWristVoltage bc it didn't do anything and wasn't used
Here it is. Enjoy :)