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

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