i was being stupid and added a method to test if the hopper jammed by comparing the current closedloop error to an allowable threshold (which i forgot to set). this means that will spinning up to the speed theres a brief second where its marked as jammed.
basically we need to change this to be that if its above a threshold for certain amount of time
i was being stupid and added a method to test if the hopper jammed by comparing the current closedloop error to an allowable threshold (which i forgot to set). this means that will spinning up to the speed theres a brief second where its marked as jammed.
basically we need to change this to be that if its above a threshold for certain amount of time