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Merge remote-tracking branch 'origin/SpindexerRefactor' into SpindexerRefactor

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Matt9150
2026-01-19 23:40:52 -06:00
parent 6f3a178a08 ccb52f625d
commit 51bf55cc49
2 changed files with 6 additions and 6 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
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@@ -74,7 +74,7 @@ public class Flywheel {
// Record Current Velocity // Record Current Velocity
velo1 = TPS_to_RPM(robot.shooter1.getVelocity()); velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
velo2 = TPS_to_RPM(robot.shooter1.getVelocity()); velo2 = TPS_to_RPM(robot.shooter1.getVelocity()); // Possible error: should it be shooter2 not shooter1?
velo = Math.max(velo1,velo2); velo = Math.max(velo1,velo2);
// really should be a running average of the last 5 // really should be a running average of the last 5

10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
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@@ -336,21 +336,21 @@ public class Spindexer {
commandedIntakePosition = 0; commandedIntakePosition = 0;
servos.setSpinPos(outakePositions[commandedIntakePosition]); servos.setSpinPos(outakePositions[commandedIntakePosition]);
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING; currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
} else if (ballPositions[1].isEmpty) { } else if (ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
// Position 2 // Position 2
commandedIntakePosition = 1; commandedIntakePosition = 1;
servos.setSpinPos(outakePositions[commandedIntakePosition]); servos.setSpinPos(outakePositions[commandedIntakePosition]);
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING; currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
} else if (ballPositions[2].isEmpty) { } else if (ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
// Position 3 // Position 3
commandedIntakePosition = 2; commandedIntakePosition = 2;
servos.setSpinPos(intakePositions[commandedIntakePosition]); servos.setSpinPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
currentIntakeState = Spindexer.IntakeState.SHOOTMOVING; currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
} else { } else {
// Empty return to intake state // Empty return to intake state
currentIntakeState = IntakeState.FINDNEXT; currentIntakeState = IntakeState.FINDNEXT;
} }
moveSpindexerToPos(intakePositions[commandedIntakePosition]); moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
break; break;
case SHOOTMOVING: case SHOOTMOVING:
@@ -369,7 +369,7 @@ public class Spindexer {
} else { } else {
// Keep moving the spindexer // Keep moving the spindexer
moveSpindexerToPos(intakePositions[commandedIntakePosition]); moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
} }
break; break;