Feature: Manual Climber

[numerator]

Description

Manual Mode

Operator left Y axis should control winch (hook arm telescoping). Stick up extends hook arm (telescopes out). Stick down retracts hook arm. Speed is proportional to stick position.

Operator B button toggles the position of the piston (between Forward/Out and Reverse/In).

Acceptance Test:

Preconditions:

Robot with climber mechanism
Driver station connected to robot over network
2 XBox Controllers ("Driver" and "Operator") connected to Driver Station
Robot is in "manual" mode (the default unless auto mode is explicitly activated)

Tests:

Action: Operator pushes and holds left stick up
Result: Winch arm extends while stick held up, stops when released.

Action: Operator holds left stick down
Result: Winch arm retracts while stick held down, stops when released.

Action: Operator pushes B button
Result: Winch arm switches position (forward/reverse angle)

Notes

• this ticket only describes manual climber control

[mcolinj]

This kind of cancellable, deadlined operation is mostly suited for the robot Command framework, but we have never used it. Some of that kind of functionality will need to be replicated for this to work cleanly in our existing framework. However, we have (used with substantial success), python generator-based solutions to build all manner of autonomous tasks that could also be monitoring for cancellation signals. The generator-based solutions works well because all of the necessary state ends up being preserved in the generator function. So, it ends up being much simpler than having to create custom state machines; it only requires a function that does the task, but breaks it up into steps that can be done in the robot loop using the python yield statement.

For a tutorial on how to use generators for an autonomous task, look here:

https://github.com/FRC1076/ContinuingEducation/tree/master/generators-for-auton

[1076software]

Is this issue still open? I thought we had tested this on the testbed. A new issue could be made for testing on the actual robot with actually climbing.