Hi again, my team is trying to engage with the charge station in autonomous, but we are having some issues. I am mainly wondering if the way I have this command set up is a valid way to control our swerve modules.
The setDesiredState method is the same one that is called when driving in teleop, but all that happens when enabling the code is a slight lurch forward. This happens a few times before the timer ends the command. I think the navX pitch based speed control will work, but I am unsure of how to proceed with getting the robot to move forward.
Any suggestions or example code would be appreciated. Thanks!
You can do that I think but if you don’t want to use some more advanced way to follow a trajectory (e.g. pathplanner), I would probably use your swerve subsystem’s drive method.
I don’t know what’s wrong with your code but here’s what I would do to find out:
- add a bunch of print statements
- increase the speed from 0.1 (not enough power to get up the angle?)
- remove the delay(0.5) (that one holds up all processing - use hasElapsed like the other one)
- make sure the sign of the pitch is right for the side of the robot and Charge Station in use.
Balancing shouldnt need a trajectory… My team just uses a Profiled PID controller hooked up to our angle.
Lol honestly for auto you can just full send it without even that and it works really well most of the time (e.g. drive forward for 2 seconds)
depends how much precision you need
True, but when I did drive forward for 2 seconds it balanced 7/7 times at comp. It’s scuffed but it works.
If it aint broke dont fix it