Started on wristevator setSetPoint command

[reesesbowls]

What I was trying to do (lowk dont know how to do trapezoid profiles so ignore last lines):

[PGgit08]

I'll post a question on cd today.

[elvizer]

This method has some issues:

• To make the elevator and wrist reach the setpoint taking the same amount of time, you can modify their CruiseVelocity and Acceleration config on the fly. However, calculating for this is difficult because the robot moves fast and doesn't have much time to reach the cruise velocity.

This method could work if its reliable to calculate the cruise velocity and acceleration to reach that setpoint within that time frame.

[PGgit08]

cd post