Added Test and Additional methods to AnglerSubsystem#43
Added Test and Additional methods to AnglerSubsystem#43Sahiltheram wants to merge 9 commits intomainfrom
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Sahiltheram
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MikeKantrowitz,
armadilloz and
batchen1
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| angler.runToReverseLimit(); | ||
| if (angler.isAtReverseLimit()) { | ||
| angler.resetEncoderToZero(); | ||
| finished = true; |
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We should probably have a timeout of 5 seconds(?) to prevent this from hanging forever if the switch is broken
| public static final double ANGLER_LOW_ROTATIONS = -50; //Lowest position of Angler | ||
| public static final double ANGLER_HIGH_ROTATIONS = 50; //Highest position of Angler | ||
| public static final double ANGLER_FIXED_ROTATIONS = 0.1; //Fixed position of Angler in Fixed ShootState | ||
| public static final double ANGLER_HOME_ROTATIONS = 0.0; |
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| public static final double ANGLER_ENCODER_LOW = 0; | ||
| public static final double ANGLER_ENCODER_HIGH = 100; | ||
| public static final double ANGLER_ANGLE_LOW = 0; | ||
| public static final double ANGLER_ANGLE_HIGH = 45; |
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We should have comments about these constants as well
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| /** | ||
| * Gets the desired Angle Position and uses a PID controller to get the motor there | ||
| */ |
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Add comment about the units the angle is expected to be (@param...)
| * Drive toward the forward limit switch and stop once it is pressed. | ||
| * Call this repeatedly from a command while homing. | ||
| */ | ||
| public void runToForwardLimit() { |
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The way this method is written, it is expecting to be called in a loop until the switch is hit - if it only called once, the motor will run forever (well, it will run until the limit switch is hit and the hardware stops the motor).
In this case, I think it is better to just use a "run forward" method, since you rely on the command to repeatedly check the switch and end when it is hit. Sorry if I caused you to do extra work here.
Same for the other method below.
| private double calculate(double angle) { | ||
| return AnglerSubsystem.calculateRotationsForAngle( | ||
| angle, | ||
| Constants.ANGLER_ENCODER_HIGH, |
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This would break when the constants change, so you should hardcode test values that will not change with the constants to separate the test code from the real ones.
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