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DanTheMan-byte
2026-01-19 20:28:13 -06:00
parent 40d51ce757
commit 8f92dc8f31
1 changed files with 5 additions and 5 deletions
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10
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
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@@ -325,21 +325,21 @@ 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:
@@ -358,7 +358,7 @@ 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;