Drive wheel testing function #73
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up = forward, down = backward, left = left, right = right
Hsaunders603
changed the title
| /* | ||
| * public CommandBase testDriveDriver() { | ||
| * return sequence( | ||
| * moveForDirectional(0, 1, 5), | ||
| * moveForDirectional(1, 0, 5), | ||
| * moveForDirectional(0, -1, 5), | ||
| * moveForDirectional(-1, 0, 5)); | ||
| * } | ||
| */ |
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We generally don't want to keep commented code
| driveController.povDown().onTrue(drive.moveForDirectional(0, 1, 5)); | ||
| driveController.povRight().onTrue(drive.moveForDirectional(1, 0, 5)); | ||
| driveController.povUp().onTrue(drive.moveForDirectional(0, -1, 5)); | ||
| driveController.povLeft().onTrue(drive.moveForDirectional(-1, 0, 5)); |
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I'm a bit nervous about having these mappings on the drive controller. It's pretty dangerous to have a command that can cause the robot to take off in a direction without a way to easily stop it.
And if this happens during a match at the very least it'll cause lost time.
I think these would be best on the dashboard (https://docs.wpilib.org/en/stable/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.html#displaying-commands).
Or at the very least make these whileTrue instead of onTrue.
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We can probably slow this down a bit too, not sure it needs to be at 1m/s, maybe 0.5?
We should also make sure we put the units of values in argument names.
| public CommandBase testDriveDriver() { | ||
| return sequence( | ||
| drive.moveForDirectional(0, 1, 5), | ||
| drive.moveForDirectional(1, 0, 5), | ||
| drive.moveForDirectional(0, -1, 5), | ||
| drive.moveForDirectional(-1, 0, 5)); | ||
| } |
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Doesn't look like this is used anywhere either, can we remove it?
Drive test program -- mapped to buttons to spin wheels forward, backward, right, and left for 5 seconds. Intended to be a simple way to test wheels easily in the pits. Branch [arm-updates] was already merged in for simplifying testing.