Hello all! We currently don’t have any sensors on our intake. I’ve currently tried to detect a note by checking for getBusVoltage() on the SPARK MAX but that number is impacted by the rest of the robot, so it is not reliable. What is a better way to handle this?
Speed or current changes.
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You can check the current draw of the spark max with getOutputCurrent()
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What I would do (note [pun not intended] that I haven’t tested it) would be to check the velocity. When it stalls, the velocity will go down.
Yes. This is build saying we’ll fix it in software…
That being said: as others have opted out, if you have encoder values you can look for speed changes over a small window… Maybe 100ms?
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