Stage 2 CTRE Solution Code - #175
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roboteer5291
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CTRE
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Daniel1464
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Daniel1464
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I know this is still a draft, but left some preliminary comments since i have time
| "enableCppIntellisense": false, | ||
| "currentLanguage": "java", | ||
| "projectYear": "2027_alpha5", | ||
| "teamNumber": 9999 |
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Small nitpick, but you can set this to null instead.
| static final double kI = 0; | ||
| static final double kD = 7; | ||
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| static final double POSITION_TOLERANCE = 3.0/360.0; |
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Would this be better served using the units API? Degrees.of(3) would be a lot more clear here
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Changed to use Units.degreesToRotations instead. Since we aren't using the units API anywhere else really, I don't think it'd make sense to have it for this.
| motor.getConfigurator().apply(leaderConfiguration); | ||
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| // Set up periodic method to run every code loop | ||
| Scheduler.getDefault().addPeriodic(this::periodic); |
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In the previous exercises, mechanism.periodic() is called manually in robotPeriodic(). Personally I think it's slightly better because it gives you control as to when the periodic() method is run
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| private final FlywheelSim sim; | ||
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| private final double GEAR_RATIO = (18.0 / 12.0) * (54.0 / 18.0) * (22.0 / 18.0) * (22.0 / 18.0); |
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It would be better to make the gear ratio a parameter of ClawSim so that users can play around with different gear ratios
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What value does this get in terms of teaching frc programming?
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Creates stage 2 CTRE Solution Code. Still very much a WIP
Todo: