Limit switch climber #35
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myrachauhan-ui
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Jan 19, 2026
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myrachauhan-ui
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myrachauhan-ui
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Great! Would prefer the climb speed to be higher
auscompgeek
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Jan 19, 2026
LeanMeanBeanMachine4774
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Jan 19, 2026
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auscompgeek
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Jan 29, 2026
| config.limitSwitch.forwardLimitSwitchType( | ||
| LimitSwitchConfig.Type.kNormallyOpen | ||
| ).forwardLimitSwitchTriggerBehavior( | ||
| LimitSwitchConfig.Behavior.kStopMovingMotor |
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This is the default behaviour, right?
| LimitSwitchConfig.Behavior.kStopMovingMotor | ||
| ).reverseLimitSwitchType( | ||
| LimitSwitchConfig.Type.kNormallyOpen | ||
| ).reverseLimitSwitchTriggerBehavior(LimitSwitchConfig.Behavior.kStopMovingMotor) |
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I suspect you want the reverse limit switch to zero the position? Otherwise this would start at an arbitrary position and your forward soft limit might not do what you expect.
| MAX_FORWARD_EXTENSION, MAX_REVERSE_EXTENSION = 120, -120 | ||
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| current_climber_speed = will_reset_to(0.0) | ||
| forward_climber_speed, reverse_climber_speed = tunable(0.8), tunable(0.8) |
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nit: this would probably be clearer across multiple statements instead
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| if self.gamepad.getYButton(): | ||
| self.climber.climb() | ||
| if self.gamepad.getBButtonPressed(): |
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Why do we want these to only happen once on a button press?
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Changed climber script to use postion control, PID still needs to be tuned.