Team4388/2019-Hit-or-Miss
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Finished laser code

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laser code and rangefinder subsystem completed and ready to function, but untested
This commit is contained in:
Elijah
2019-02-28 16:13:40 -07:00
parent 78f923e380
commit b6f05d1be7
1 changed files with 20 additions and 5 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/commands/LaserToDash.java
+20 -5
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@@ -12,7 +12,14 @@ import org.usfirst.frc4388.robot.Robot;
import edu.wpi.first.wpilibj.command.Command; import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class LaserToDash extends Command { public class LaserToDash extends Command {
String p1 = "";
String p2 = "";
String last1 = "0";
String last2 = "0";
public LaserToDash() { public LaserToDash() {
// Use requires() here to declare subsystem dependencies // Use requires() here to declare subsystem dependencies
// eg. requires(chassis); // eg. requires(chassis);
@@ -28,19 +35,27 @@ public class LaserToDash extends Command {
// Called repeatedly when this Command is scheduled to run // Called repeatedly when this Command is scheduled to run
@Override @Override
protected void execute() { protected void execute() {
String p1, p2;
try{ try{
String toParse = Robot.rangefinder.getDistance(); String toParse = Robot.rangefinder.getDistance();
String[] parts = toParse.split("s"); String[] parts = toParse.split("s");
p1 = parts[0]; p1 = parts[0];
p2 = parts[1]; p2 = parts[1];
if (!(p1 == "0" || p2 == "0")){
SmartDashboard.putNumber("Laser 1 raw out", Double.parseDouble(p1));
SmartDashboard.putNumber("Laser 2 raw out", Double.parseDouble(p2));
last1 = p1;
last2 = p2;
}
else{
SmartDashboard.putNumber("Laser 1 raw out", Double.parseDouble(last1));
SmartDashboard.putNumber("Laser 2 raw out", Double.parseDouble(last2));
}
} }
catch(Exception nullException){ catch(Exception nullException){
p1 = "0";
p2 = "0";
} }
SmartDashboard.putNumber("Laser 1 raw out", Double.parseDouble(p1));
SmartDashboard.putNumber("Laser 2 raw out", Double.parseDouble(p2));
} }
// Make this return true when this Command no longer needs to run execute() // Make this return true when this Command no longer needs to run execute()