added claw control - Ayush #13
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This looks good, but I'm going to leave it in limbo for right now. I talked with Jason and apparently we are going to have a very hard time knowing what position the claw is in because when the rover starts up we have no way of knowing where it is. Also, we apparently have no problem with limits on closing the claw because we can keep putting force to just clamp down on what we're holding, but opening might be important. We're not quite sure how we're going to resolve this, possibly just with driver intelligence, but we'll have to have a talk about it. |
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