New control method
Update for slew
Added new position sensing
Ram testing. Smoothing the ram movement
PID adjustments to make the error calculate correctly.
Adjustments
Testing speeding up of the code
Main updated to use the new extension finding code
PID stuffs
Testing range
Digger Code

Currently used code on the digger. Changes made directly after this are
due to code tidy up etc
Added New Code

Correct Angle finding
Updated the drawing code
- Now displays the digger
- Now has command window in the figure
- Can track either L or I

Introduced new PID code
Added PID structure code
Added new path generation code
Changed max move to reflect new path generation code

Cleaned up the code
Now draws the bucket also

TODO: Add matrix that utilises different gains for when the bucket is in
a different position.
Drawing changes
Extra stuff
Emulator Created
Fixed a fuck up
Added mapping of the Gains

Gain mapping added
- Now can generate any number of gains that you may wish to use
- TODO add retraction/extension gains and code to do this
Site Changes
Latest Code as of 29/08/2013