Ankle Subsystem #3
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Mychecksdead
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Feb 9, 2025
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Since the AnkleConstants.maxAngle and minAngle are in the type of encoder (not encoder_value * gearRatio), there seems to be a bug in setAngle and setAngleTest. I think we should pass directly the angle value to the closedLoopController.setReference and set the gearRatio in the constructor of the Subsystem class instead of multiplying every time.
Mychecksdead
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Feb 9, 2025
exeokan
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Feb 10, 2025
src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java
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src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java
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| public void setSparkPIDControllerToDashboard(String prefix, double kP, double kI, double kD, double kMinOutput, |
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do we really need a class for this? how about we set up a smart dashboard handler class that has all the set/get methods regarding all subsystems
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could you more clarify? we didnt understand ( w/mychecksdead)
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Ankle subsystem added. It contains basic level functions.