change of isoutsideof function
had to change the bool closed to the opposite on call as if i wanted it to
be outside (closed) then i must check if it inside not closed and vice
versa
change of channel for rightjoystickY as ch5 is not the correct one, ch 2 is
change of names/ports of motors, reversion a guess and may be incorrect (but the ports are good)
typo
moving of claw/pivoting claw functions
encoder to pivot degree conversion factor for the pivot motor
encoder degree on arm conversion factor declared, still incomplete
movearm function
will check if claw parallel to ground
sums the degrees below the claw and below the arm
if sum is around 180, is approximately parallel
moves claw at around 80% full speed
will use the value of the encoder to tell me the approximate value of degrees below the pivot
initial amount of degrees below the pivot, unclear if correct
changed name of function that would tell me degrees below pivot from encoder value to a more appropriate name
added the encoders
will convert a change in encoder values into how much the pivot angle changed
will calculate how much the change in encoder values translate to how many degrees are left below the pivot
function to move pivot (at a constant speed) and a function to move pivot a certain number of degrees
dimensional analysis says that this is how to do it, but do i absolute value it?
absolute values deltaEncoderDegreesToPivotDegrees so that i get a difference and its sign does not matter in later calculations
function now to find the angle between arm and moving arm based on encoder value