Comments (4)
Hypothesis: this happens when the turret's first scan move takes it beyond what would have been it's end point in the correct space. Then the correction puts the encoder behind where the turret is now, so it keeps on going.
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Note: scans do start anti-clockwise first
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We should set the soft limits on the Talon to avoid this ever actually becoming a problem. Then it becomes a matter of making scans behave appropriately before hitting an index.
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Reviving this issue since certain starting configurations can cause the turret to seemingly zero incorrectly
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Related Issues (8)
- Disabling intaking unconditionally stops all indexer motors
- Turnaround should take robot turning into account HOT 1
- Cleanup existing autonomous HOT 2
- Investigate Talon velocity filter configuration
- PWM 2 is double-allocated HOT 1
- Drivebase needs tuning in closed loop velocity mode HOT 3
- Controls for driving need tuning with the drive team
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