FRC2240_Beltivator

Status:

Currently mostly working, only thing left to do is determine PID constants on real hardware

Test setup:

Note: you MUST input PID constants via SmartDashboard before enabling. This will be changed later.

Controls:

• Y: go to top
• X: go to half
• A: go to bottom
• Right joystick (up/down): manual control

Constants:

Beltivator.h:

const double kMAX_POS;             // fully extended position (# of rotations)
const double kMIN_POS;             // fully retracted position (# of rotations)
const double kPRESETS[3];          // array of presets (# of rotations) - maps to PRESET enum
const double kJOYSTICK_THRESHOLD;  // threshold to consider joystick active
const double kVEL_MULT = 1.0;      // throttle multiplier for joystick control

BeltivatorMotors.h:

const int m_currentLimit;  // max current limit **PER MOTOR** (Amps)