crueter / beakness

beaking time

Beaking time

TODO:::::::::

• work

• support FoC

• create motor control requests

• motor config requests/classes

  • ClosedLoop: wrap
  • Current Limits
  • Fused CANCoder of some sort
  • Limit switch configs
    • Support external (DIO) pins
  • Motion Magic
  • Duty Cycle: deadband, peak forward/reverse, open/closed loop ramps
  • Same for voltage
  • Same for torque
  • Soft Limits
  • Similar thing for encoders/gyros
  • Nominal voltage
  • PID
    • Include slots in the config

• swerve control requests

  • Facing Angle
  • X-Drive
  • Robot Centric
  • SysId control of some sort

• look forward to prevent slips and such

• Collision detection; ignore odometry

• Slip detection

• Real feedforward

• Standardized Simulation

• Differential drivetrain requests

• TorqueCurrent output

• More clean API for duty vs voltage vs torque

• General cleanup of old stuff

• 250Hz odometry

  • depends on status signals

• PWM controller w/ DIO encoder?

• Fused CANCoder

• General DataSignal improvements

  • getter for value/timestamp
  • Update frequencies
  • Refresh
  • RefreshAll
  • SignalStore, perhaps?

• LogStore & DashboardStore

• BeakSparkFLEX

  • Wait for motor controller API to be done.

• Get rid of BeakGyroSubsystem

• VisionSystem API

• Acceleration control