KeshavAnandCode/FTCDecodeMain
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DanTheMan-byte
2026-01-28 15:36:44 -06:00
parent 5d0a569f82
commit 641d947ec6
1 changed files with 11 additions and 11 deletions
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22
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
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@@ -255,17 +255,17 @@ public class Spindexer {
private void moveSpindexerToPos(double pos) { private void moveSpindexerToPos(double pos) {
robot.spin1.setPosition(pos); robot.spin1.setPosition(pos);
robot.spin2.setPosition(1-pos); robot.spin2.setPosition(1-pos);
double currentPos = servos.getSpinPos(); // double currentPos = servos.getSpinPos();
if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){ // if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
if (currentPos > pos){ // if (currentPos > pos){
robot.spin1.setPosition(servos.getSpinPos() + 0.05); // robot.spin1.setPosition(servos.getSpinPos() + 0.05);
robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05); // robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
} else { // } else {
robot.spin1.setPosition(servos.getSpinPos() - 0.05); // robot.spin1.setPosition(servos.getSpinPos() - 0.05);
robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05); // robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
} // }
} // }
prevPos = currentPos; // prevPos = currentPos;
} }
public void stopSpindexer() { public void stopSpindexer() {