use code on my dc_stall_detector branch to add limits to the turret travel
The turret should conclued its at the limit and stop running when it triggers a stall.
Important note: of course detecting the stall is just part of this item. The rest is:
(1) once you hit a limit, now you should not travel more in that diretion even when requested
(2) but you DO want to allow travelling the other direction
(3) when you DO travel the othre direction, you want to then allow yourself to move back the othre way again.
Were it me, i'd implement a convienience object that makes this easy to unit test. I could help sketch that out if you want.
optional to add other subsystems
use code on my dc_stall_detector branch to add limits to the turret travel
The turret should conclued its at the limit and stop running when it triggers a stall.
Important note: of course detecting the stall is just part of this item. The rest is:
(1) once you hit a limit, now you should not travel more in that diretion even when requested
(2) but you DO want to allow travelling the other direction
(3) when you DO travel the othre direction, you want to then allow yourself to move back the othre way again.
Were it me, i'd implement a convienience object that makes this easy to unit test. I could help sketch that out if you want.
optional to add other subsystems