Add simulated control for turret #67
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LucienMorey
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LucienMorey
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| # Initialise Encoder | ||
| pass | ||
| self.absolute_encoder = DutyCycleEncoder(DioChannel.TURRET_ENCODER) |
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The Talon FXS has a data port. Do we not intend on plugging the encoder into it?
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I think long term its going to be a WCP absolute encoder running over CAN. It may even be that way first, depending on how shipping turns out.
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I'm gonna regret not putting the Phoenix Pro season pass on the FIRST Choice list huh
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Do teams basically get that guaranteed if its just electronically redeemable?
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Adds a simple 2d mechanism for simulating the turret. The MOI and gains are just random until someone pulls them from the cad and does a little tuning 😉. The tunable to set the desired turret angle can also be deprecated to use the slew absolute method once it has been made. The tunable is also janky because its in rotations which is inconsistent with the rest of the interface
I could use a hand checking that the sim is not done in a cracked way because of the potentially different applications of gear reductions