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Titan Robotics Club
2024-06-07 20:46:38 -07:00
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@ -66,6 +66,10 @@ Once the drive base is fully functional, the next step is to create subsystems f
RobotParams.SLIDE_STALL_DETECTION_DELAY, RobotParams.SLIDE_STALL_DETECTION_TIMEOUT,
RobotParams.SLIDE_STALL_ERR_RATE_THRESHOLD);
//
// If you are using motor native PID control, you need to set PID tolerance.
//
slideMotor.setPositionPidTolerance(RobotParams.SLIDE_TOLERANCE);
//
// Stall protection will detect motor stall and cut power to protect it. This is also required if
// you want to enable zero calibration by motor stall (e.g. don't have lower limit switch).
// A motor is considered stalled if: