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Titan Robotics Club
2024-06-06 22:31:17 -07:00
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@ -68,15 +68,14 @@ Once the drive base is fully functional, the next step is to create subsystems f
RobotParams.SLIDE_STALL_ERR_RATE_THRESHOLD);
//
// 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.
// you want to enable zero calibration by motor stall (e.g. don't have lower limit switch).
// A motor is considered stalled if:
// - the power applied to the motor is above or equal to stallMinPower.
// - the motor has not moved or movement stayed within stallTolerance for at least stallTimeout.
// Note: By definition, holding target position doing software PID control is stalling. If you decide to enable
// stall protection while holding target, please make sure to set a stallMinPower much greater than the
// power necessary to hold position against gravity, for example. However, if you want to zero calibrate
// on motor stall (e.g. don't have lower limit switch), you want to make sure calPower is at least
// stallMinPower.
// on motor stall, you want to make sure calPower is at least stallMinPower.
//
slideMotor.setStallProtection(
RobotParams.SLIDE_STALL_MIN_POWER, RobotParams.SLIDE_STALL_TOLERANCE,