Limit Switch Integration (Feeder Subsystem) #70
Description
The feeder subsystem on the Hero robot is more complicated than the others by virtue of handling all of the heavy 42mm projectiles. Because of this, we want to integrate a limit switch to detect the path of projectiles in the ball path, in order to smooth out the feed rate. Using the Limit Switch object created under Informants, a new command should be created that will automatically run the feeder no matter what. However, the feeder motor should stop as soon as it detects input from the limit switch, and not resume until remote input is given from the user. The goal is to have projectiles fire as soon as possible after the remote input is given.
The feeder subsystem has some old limit switch code within it, however no up-to-date commands current work with them.
Tasks:
- Create/update the existence of a limit switch object inside of the feeder subsystem.
- Create a command that always runs the feeder motor unless a limit switch is pressed.
- Add some level of logic after the switch is pressed to cause the motor to stop moving until remote input is given to fire again.