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fix windup issue #388

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Merged
merged 4 commits into from
May 3, 2025
Merged

fix windup issue #388

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4aa2d6f
reset setpoint time on enable immediatelly
LeanMeanBeanMachine4774 Apr 28, 2025
a162eae
depricate wrist reset windup and implement fix on wrist
LeanMeanBeanMachine4774 Apr 28, 2025
3e52bd9
force retract on enable
LucienMorey May 3, 2025
52a61c1
remove time reset on enable in wrist
LucienMorey May 3, 2025
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2 changes: 1 addition & 1 deletion components/intake.py
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ def _force_retract(self):
self.last_setpoint_update_time = wpilib.Timer.getFPGATimestamp()

def on_enable(self) -> None:
self.retract()
self._force_retract()
self.desired_output = 0.0

def execute(self) -> None:
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4 changes: 0 additions & 4 deletions components/wrist.py
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Expand Up @@ -82,7 +82,6 @@ def __init__(self, mech_root: wpilib.MechanismRoot2d):
)

def on_enable(self):
# self.tilt_to(WristComponent.NEUTRAL_ANGLE)
self._tilt_to(self.inclination())
self.idle_mode = SparkMaxConfig.IdleMode.kBrake
wrist_config = SparkMaxConfig()
Expand Down Expand Up @@ -156,9 +155,6 @@ def _tilt_to(self, pos: float):
def go_to_neutral(self) -> None:
self.tilt_to(WristComponent.NEUTRAL_ANGLE)

def reset_windup(self) -> None:
self.tilt_to(self.inclination())

@feedback
def at_limit(self) -> bool:
return self.motor.getReverseLimitSwitch().get()
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3 changes: 0 additions & 3 deletions robot.py
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Expand Up @@ -348,9 +348,6 @@ def disabledPeriodic(self) -> None:
self.chassis.update_alliance()
self.chassis.update_odometry()

self.wrist.reset_windup()
self.wrist.execute()

self.starboard_vision.execute()
self.port_vision.execute()

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