Implement ICAT

[dunep]

No description provided.

[ACat701]

We wanted both positional and velocity control on the climber. We also wanted them both to be Motion Magic. I'm not sure how we'll make sure that the PID works in both cases. Maybe it'll just work like magic? Maybe its not actually a problem and I'm just really tired?

[ACat701]

@TaylerUva ^^

[ACat701]

Also im trying to think about how we should account for other commands interrupting the PrepAmp command. As i have it written right now, everything kinda explodes if it fails to transfer the amp note into the amper and that would run until its interrupted and them maybe things will explode and idk I'm very tired

[TaylerUva]

We wanted both positional and velocity control on the climber. We also wanted them both to be Motion Magic. I'm not sure how we'll make sure that the PID works in both cases. Maybe it'll just work like magic? Maybe its not actually a problem and I'm just really tired?

You would have 2 PIDs but we don't need velocity in climber just voltage

[ACat701]

TESTING NOTES

• CAN ids
• Set value of Intake ABS_ENCODER_OFFSET and Intake ABS_ENCODER_INVERT
• Determine if we will need to add an ABS_ENCODER_ROLLOVER
• Probably comment out stowing the pivot for now
• Set software limits

[TaylerUva]

DISABLE CURRENT LIMITING ON downwards only

[TaylerUva]

Climber up waits for amp