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e-bauman
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Dec 16, 2025
| .with_neutral_mode(signals.NeutralModeValue.BRAKE) | ||
| ).with_feedback( | ||
| configs.FeedbackConfigs() | ||
| .with_feedback_remote_sensor_id(signals.FeedbackSensorSourceValue.FUSED_CANCODER) |
subsystem/intake.py
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| self.pivot_motor.set_sensor_position( | ||
| self.pivot_angle * constants.intake_pivot_gear_ratio / (2 * math.pi) | ||
| ) | ||
| pos = self.pivot_angle * constants.intake_pivot_gear_ratio / (2 * math.pi) |
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include the gear ratio in the feedback config so that you don't need to here
subsystem/intake.py
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| / constants.intake_pivot_gear_ratio | ||
| * math.pi | ||
| * 2 | ||
| self.pivot_motor_pos.value / constants.intake_pivot_gear_ratio * math.pi * 2 |
Contributor
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if you include the gear ratio in the config you don't need to do it here
subsystem/intake.py
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| @@ -138,33 +169,21 @@ def set_pivot_angle(self, angle: radians) -> None: | |||
| """ | |||
|
|
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| ff = config.intake_max_ff * math.cos(config.intake_ff_offset - angle) | |||
Contributor
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if the gear ratio is done above you don't need to do the gravity feedforward here
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