Motors in Drivers

[a-crowell]

Description

Drivers have access to max velocity/acceleration and users can adjust them.

Objectives

• Drivers get and use max velocity/acceleration from preferences or the mirabuf file
• Joint Configuration Panel with saving and canceling features

Note

• Certain motors in the assemblies do not work. For example, 2018 sliders aren't given enough force to move. While I could clamp them as they come in, material is a big enough factor that it's easy enough to adjust in the panel.
• While you'll see acceleration and force as umbrella terms for ease, SliderDrivers use force, HingeDrivers use torque, and WheelDrivers use acceleration. In the future, if we switch to using the vehicle controllers, WheelDrivers would use torque.

JIRA Issue

[LucaHaverty]

Love this! Everything I tested has worked great so far, but I left a couple code suggestions below.

Also, to me it would make more sense for this panel to be called "motor configuration" instead of "joint configuration" because it also includes wheels, which I guess technically are joints but a lot of people won't think of wheels when they read "joints". Up to you though, might just be me

[a-crowell]

@LucaHaverty I had the same debate last year, but decided on joints because a lot of these are multi-motor, especially the drive. Do you have other ideas for joints?

[LucaHaverty]

@LucaHaverty I had the same debate last year, but decided on joints because a lot of these are multi-motor, especially the drive. Do you have other ideas for joints?

Oh yeah that's a good point. Maybe mechanisms or subsystems? I'm not sure though, joints works too.

[Dhruv-0-Arora]

@LucaHaverty I had the same debate last year, but decided on joints because a lot of these are multi-motor, especially the drive. Do you have other ideas for joints?

Oh yeah that's a good point. Maybe mechanisms or subsystems? I'm not sure though, joints works too.

subsystems 👽

[LucaHaverty]

Amazing work! Can't wait to mess around with this more once swerve is in

[BrandonPacewic]

I could not seem to find where to pull up the config panel. The subsystem button on main HUD appeared to do nothing and I failed to find where the driver config is in the new configure objects panel.

[LucaHaverty]

I could not seem to find where to pull up the config panel. The subsystem button on main HUD appeared to do nothing and I failed to find where the driver config is in the new configure objects panel.

Looks like the panel got deleted from Synthesis.tsx in a merge conflict :(

[a-crowell]

@BrandonPacewic @LucaHaverty Forgot to stage the Synthesis file. Thanks for catching it!

[LucaHaverty]

Looks great!

[BrandonPacewic]

🪨 🧗