ARM.md

Arm Subsystem

CANBUS: CANivore

• boreEncoder as external encoder
• MotionMagicVoltage for voltage-driven Motion Magic

public enum ArmControlState {
    /** open-loop control */
    OPEN_LOOP,

    /** intaking position */
    INTAKE,

    /** near speaker shooting position - tunable */
    SPEAKER_SHORT,

    /** far from speaker shooting position - NOT tunable */
    SPEAKER_LONG,

    /** amp shooting position */
    AMP,

    /** neutral - in brake */
    HOLD,

    /** zero position with respect to hard stop */
    ZERO,

    /** interpolation */
    POSE_T,

    /** look up table setup **/
    LOOKUP,

    /** FF characterization test */
    CHARACTERIZATION,

    /** CLIMBING CLOSED POSITION */
    CLIMB,

    /** intake from source zone when intake is broken */
    INTAKE_FROM_SOURCE,
  }

State Setters:

• setArmPercentOutput()
  • sets current state to OPEN_LOOP
  • sets targetOutput to given percent output
• setArmAngleMotionMagic
  • sets setpoint to given angle

Interpolation: Look-up table for interpolation using LimeLight:

• getAngleFromLookUp() returns the calculated angle with respect to robot's current position to the speaker

Checker:

• isBoreEncoderAlive()
  • if bore is not connected, switch to Falcon encoder