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Update README.md

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Titan Robotics Club
2024-06-06 21:35:04 -07:00
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parent 32652d07b7
commit 92760a8393
1 changed files with 7 additions and 3 deletions
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README.md
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@ -54,11 +54,15 @@ Once the drive base is fully functional, the next step is to create subsystems f
.setPositionScaleAndOffset(RobotParams.SLIDE_INCHES_PER_COUNT, RobotParams.SLIDE_OFFSET)
.setPositionPresets(RobotParams.SLIDE_PRESET_TOLERANCE, RobotParams.SLIDE_PRESETS);
slideMotor = new FtcMotorActuator(RobotParams.HWNAME_SLIDE, slideParams).getActuator();
// Delete or comment out the following two statements if you want to use motor native PID control
// (aka RUN_TO_POSITION) instead of software PID control.
slideMotor.setSoftwarePidEnabled(true);
slideMotor.setPositionPidCoefficients(
slideMotor.setPositionPidParameters(
RobotParams.SLIDE_KP, RobotParams.SLIDE_KI, RobotParams.SLIDE_KD, RobotParams.SLIDE_KF,
RobotParams.SLIDE_IZONE);
slideMotor.setPositionPidTolerance(RobotParams.SLIDE_TOLERANCE);
RobotParams.SLIDE_IZONE, RobotParams.SLIDE_TOLERANCE);
slideMotor.setSoftPositionLimits(RobotParams.SLIDE_MIN_POS, RobotParams.SLIDE_MAX_POS, false);
slideMotor.setStallDetectionEnabled(
RobotParams.SLIDE_STALL_DETECTION_DELAY, RobotParams.SLIDE_STALL_DETECTION_TIMEOUT,
RobotParams.SLIDE_STALL_ERR_RATE_THRESHOLD);