Quote:
Originally Posted by Brian Selle
Wish we had done this in 2015.  Do you do the calibration during disabledPeriodic (drive team cycles the arm), upon first motion, other? Is it done just once, at specified intervals, or continuously? |
We've got our own pub-sub framework, so it's hard to map to WPILib concepts. The "human zeroing", where the robot is moved through the range of motion by hand, happens while disabled. The automated zeroing (robot has a sequence of actions that find index pulses) happens if the robot enters enabled mode but is not all zeroed. We rarely use the automated zeroing, but if the robot reboots without warning or someone forgets to zero at startup, we can continue the match.