Arm - position control

[cyndiac]

More challenging task, primarily in subsystems/Arm.java

• set initial PID values
• create shuffleboard entry for arm target value that user can change
• RobotContainer.java -- map button to ArmToPosition command, get target from Shuffleboard
• setArmTarget
• getArmPosition
• stopArmInput
• IF we have some way to tell the arm where to zero, hasHitHardstop & zeroArmEncoder
• commands/ArmToPosition.java (initialize(); isFinished(); end(); skip Execute())

More challenging task, primarily in subsystems/Arm.java -- Ari's checklist

• set initial PID values
• initialize PID controller object
• function getArmPosition() -- get encoder value
• function zeroEncoder() -- set current value to 0
• show arm encoder value on shuffleboard
• create shuffleboard entry for arm target value that user can change
• setArmTarget(int ticks)
• stopArmInput() -- set arm power to 0 to stop it from moving
• commands/ArmToPosition.java (initialize(); isFinished(); end(); skip Execute()) -- call the "arm.setArmTarget" function
• RobotContainer.java -- map button to ArmToPosition command, get target from Shuffleboard
• IF we have some way to tell the arm where to zero, hasHitHardstop & zeroArmEncoder