Armaan cooler branch for climb - #14
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… subsystem/ctre/CtreDriveConstants
AND ALSO FIXED PID TO POSE FOR REALS WOOHOO
… all the stuff marked in climbconstants
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Jan 27, 2026
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So we're going to eventually add END_EFFECTOR_HEIGHT back, bc the height of the climber is a variable we want to control
| null, // Default step voltage (7 V) | ||
| null, // Use default timeout (10 s) | ||
| // Log state with SignalLogger class | ||
| state -> SignalLogger.writeString("SysIdElevator_State", state.toString()) |
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| state -> SignalLogger.writeString("SysIdElevator_State", state.toString()) |
| ), | ||
| new SysIdRoutine.Mechanism( | ||
| output -> request.withOutput(output), | ||
| null, |
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| null, | |
| log -> { | |
| log.motor("climbMotor") | |
| .voltage(Volts.of(request.Output)) | |
| .linearPosition( | |
| Meters.of( | |
| rotationsToMeters( | |
| climbMotor.getPosition().getValueAsDouble()))) | |
| .linearVelocity( | |
| MetersPerSecond.of( | |
| rotationsToMeters(climbMotor.getVelocity().getValueAsDouble()))); | |
| }, |
Correct sysid code
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| public static final double SPROCKET_RADIUS = 0.0412; // Effective pitch radius | ||
| public static final double GEAR_RATIO = 9; | ||
| public static final double SPROCKET_CIRCUMFERENCE = SPROCKET_RADIUS * Constants.TAU; |
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lowk this is kinda annoying to work with btw we're going to change this in the future once i get around to it
shooter ready or not
Aarush test(current)
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added talonfx code for telescopic arm
methods:
moveToScoringHeight, moveToTarget, isNearTarget,