From e046d37ab8dec3bb79b6dfec28499f5792343e77 Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Thu, 6 Jun 2024 22:31:17 -0700 Subject: [PATCH] Update README.md --- README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index d6edcb4..5692068 100644 --- a/README.md +++ b/README.md @@ -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,