Wilsonville tweaks #62
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| @@ -39,7 +39,7 @@ public static final class Module { | |||
| public static final int TALON_TURN_MOTOR_3 = 2; | |||
| public static final int TALON_CANCODER_3 = 23; | |||
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| public static final double WHEEL_RADIUS = Units.inchesToMeters(1.906); | |||
| public static final double WHEEL_RADIUS = Units.inchesToMeters(1.9375); | |||
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We were seeing alignment issues all comp. I specifically remember an offset in Y during auto.
While I don't think this is the ultimate root cause, it could be a factor. It's not required to revert for this review, I would just keep an eye on it.
| @@ -100,7 +100,7 @@ public void run() { | |||
| signalsLock.lock(); | |||
| try { | |||
| if (isCANFD) { | |||
| BaseStatusSignal.waitForAll(2.0 / DriveConstants.Module.ODOMETRY_FREQUENCY, signals); | |||
| BaseStatusSignal.waitForAll(4.0 / DriveConstants.Module.ODOMETRY_FREQUENCY, signals); | |||
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This is potentially a really good fix. Can we try setting it to 1.5 or 1.0 in the lab and see if the issue (last CAN ID of wire is not getting enough time during init sequence, causing timeout) manifests itself more reliably to make sure we found the root cause? Then we can tell drive team they don't need to keep twisting the wheels on the field.
I'm not sure what change you're referring to, but I don't think we made any code changes after the last match so I don't think so. If you're referring to the wrist getting stuck, I think that was more of a hardware issue (or maybe a software issue uncovered by a hardware issue), and wasn't caused by any code changes we made. I'm not sure though. Belle and Christian understand the issue much better than I do |
Tweaks made during Wilsonville that probably don't fit into specific PRs.
Note with the wrist that it seems significant changes need to be made in software and maybe hardware; some of the changes made to the wrist are kind of band-aid, but I think work for the purpose of this PR.