Minor Code ChangeTags: control and think
Task: Save Bigwheel from self destruction
The other day, when running through Bigwheel's controls, we came across an error in the code. The motors on the elbow did not have min and max values for its range of motion, causing the gears to grind in non-optimal conditions. Needless to say, Iron Reign has gone through a few gears already. Adding stops in the code was simple enough:
Testing the code revealed immediate success. we went through the full range of motion and no further grinding occurred.
Going forward, we will continue to debug code through drive practice.