Created button to backdrive spindexer#229
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This uses the A button if u hold it down |
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This seems correct, with a nit. I presume you've at least tested this behaviour in simulation?
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Note: the commit message is entirely accurate I changed the order of the calls in the state to be consistent with the other states |
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*isn't |
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Upon further testing it appears that the code will get stuck into the state and won't leave |
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@DannyPomeranian did u test it in the corrected sim? |
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It appears the logic works correctly during testing on sim. |
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I don't want this to be merged until we actually get a chance to test it on the robot or back-driving is absolutely needed. |
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| if not isclose(self.feed_rate, 0.0, abs_tol=0.1): | ||
| target_indexer_rps = self.feed_rate / (pi * self.INDEXER_WHEEL_DIAMETER) | ||
| target_injector_rps = self.feed_rate / (pi * self.INJECTOR_WHEEL_DIAMETER) | ||
| self.target_injector_rps = -feed_rate |
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What's the point of setting this if this is never actually read by anything?
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lgtm but u should prob find the actual value for the feed_Rate instead of js putting 50
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| def backdrive(self, feed_rate: units.meters_per_second) -> None: | ||
| target_indexer_rps = -feed_rate | ||
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| target_injector_rps = -feed_rate | ||
| self.indexer_motor.set_control(VelocityVoltage(target_indexer_rps)) | ||
| self.injector_motor.set_control(VelocityVoltage(target_injector_rps)) |
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Isn't this going to be immediately overwritten by the execute method?
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But the execute method won't be run in the backdriving state? Or am I wrong about how the execute method works
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
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