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Fix swerve bug #4

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ProgramDragon64 opened this issue Apr 21, 2023 · 3 comments · Fixed by #7
Closed

Fix swerve bug #4

ProgramDragon64 opened this issue Apr 21, 2023 · 3 comments · Fixed by #7
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ProgramDragon64 commented Apr 21, 2023 •
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With joystick input, the wheel will suddenly turn almost 360 degrees. This is due to the fact of going from -179 degrees to 180 degrees, and vice versa.

The goal is to, of course, solve this issue and to prevent rotation if the wheel turns in one direction, if that ever becomes an issue.
@ProgramDragon64 ProgramDragon64 self-assigned this Apr 21, 2023
@ProgramDragon64 ProgramDragon64 added bug Something isn't working enhancement New feature or request labels Apr 21, 2023
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Rev compensation complete. Will be checking wanted angle and given angle.

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ProgramDragon64 commented May 5, 2023 •
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The rev compensation works, but is reset while turning. Seems to be happening from 0 to 1 or 0 to -1.

@ProgramDragon64 ProgramDragon64 linked a pull request May 11, 2023 that will close this issue
4 fix swerve bug #7
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I have fixed the issue. I ended up rounding the value to the nearest revolution to solve the issue. The wheels will not randomly spin back, or spin back at a certain spot. The only time they will spin back is because that angle is closer that what it was.

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4 fix swerve bug SteelRidgeRobotics/2022-23_FRC_Season
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