KeshavAnandCode/FTCDecodeMain
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Merge remote-tracking branch 'origin/danielv5' into danielv5

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This commit is contained in:
DanTheMan-byte
2026-02-28 12:31:01 -06:00
parent 128637e8a1 76dc6b12bf
commit 9ba5aebc8b
2 changed files with 9 additions and 9 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
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@@ -79,6 +79,6 @@ public class Servos {
}
public boolean spinEqual(double pos) {
return Math.abs(pos - this.getSpinPos()) < 0.03;
return Math.abs(pos - this.getSpinPos()) < 0.05;
}
}

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
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@@ -48,7 +48,7 @@ public class Spindexer {
public double distanceFrontDriver = 0.0;
public double distanceFrontPassenger = 0.0;
public double spindexerWiggle = 0.01;
public double spindexerWiggle = 0.03;
public double spindexerOuttakeWiggle = 0.01;
private double prevPos = 0.0;
@@ -207,7 +207,7 @@ public class Spindexer {
// Mark Ball Found
newPos1Detection = true;
if (detectRearColor) {
if (detectRearColor && !teleop) {
// Detect which color
NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
@@ -227,7 +227,7 @@ public class Spindexer {
if (distanceFrontDriver < frontDriverDistance) {
// reset FoundEmpty because looking for 3 in a row before reset
ballPositions[spindexerBallPos].foundEmpty = 0;
if (detectFrontColor) {
if (detectFrontColor && !teleop) {
NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
@@ -254,7 +254,7 @@ public class Spindexer {
// reset FoundEmpty because looking for 3 in a row before reset
ballPositions[spindexerBallPos].foundEmpty = 0;
if (detectFrontColor) {
if (detectFrontColor && !teleop) {
NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
@@ -448,13 +448,13 @@ public class Spindexer {
case MOVING:
// Stopping when we get to the new position
if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
if (intakeTicker > 1){
//if (intakeTicker > 1){
currentIntakeState = Spindexer.IntakeState.INTAKE;
stopSpindexer();
intakeTicker = 0;
} else {
intakeTicker++;
}
//} else {
// intakeTicker++;
//}
//detectBalls(false, false);
} else {
// Keep moving the spindexer