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Made commands to change the elevator pitch position using encoder and… #62
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… locking it in place when doing nothing.
SaarYogev
suggested changes
Feb 25, 2018
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.m_elevatorPitch.resetEncoders(); |
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Never reset the encoders in the ElevatorPitch. you need to keep track of your absolute position.
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| Robot.m_elevatorPitch.setPitchSetpoint(Robot.m_elevatorPitch.getPosition()); |
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It will change as the ElevatorPitch falls, and will efectivally do nothing. Use ChangePitchPositionUsingEncoder with Robot.m_elevatorPitch.getPosition() as your setpoint, similar to how the LockDrive command is built.
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… locking it in place when doing nothing.