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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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This commit is contained in:
aarav18
2022-03-17 11:20:52 -06:00
parent 2c18973dfa 87a6707cc6
commit 8587f5d0f9
1 changed files with 14 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+14 -20
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@@ -37,19 +37,13 @@ public class Turret extends SubsystemBase {
SparkMaxLimitSwitch m_boomBoomLeftLimit;
SparkMaxLimitSwitch m_boomBoomRightLimit;
boolean hasLeftSwitchChanged = false;
boolean hasRightSwitchChanged = false;
boolean leftPrevState = false;
boolean rightPrevState = false;
boolean leftState;
boolean rightState;
boolean recentlyPressed;
boolean leftPrevState = false;
boolean hasLeftSwitchChanged = false;
long leftCurrentTime;
long rightCurrentTime;
long leftElapsedTime;
long rightElapsedTime;
public Turret(CANSparkMax boomBoomRotateMotor) {
@@ -120,22 +114,15 @@ public class Turret extends SubsystemBase {
SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
// limit switch annoying time thing but actually worked first try wtf
leftState = m_boomBoomLeftLimit.isPressed();
leftState = m_boomBoomLeftLimit.isPressed(); // * Get the state of the left limit switch (true for pressed).
hasLeftSwitchChanged = (leftState != leftPrevState);
hasLeftSwitchChanged = (leftState != leftPrevState); // * Get whether the state of the left limit switch has changed, based on its previous state.
if (leftState && hasLeftSwitchChanged) {
if (leftState && hasLeftSwitchChanged) { // * If the left limit switch is pressed, and it recently changed, start the time.
leftCurrentTime = System.currentTimeMillis();
leftElapsedTime = 0;
}
if (leftState && !hasLeftSwitchChanged) {
leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
}
if (leftState && (leftElapsedTime > 500)) {
m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);
}
if (!m_boomBoomRightLimit.isPressed()) recentlyPressed = false;
if(m_boomBoomRightLimit.isPressed() && !recentlyPressed){
@@ -144,8 +131,15 @@ public class Turret extends SubsystemBase {
}
SmartDashboard.putBoolean("Recently Pressed", recentlyPressed);
leftPrevState = leftState;
// rightPrevState = rightState;
if (leftState && !hasLeftSwitchChanged) { // * If the left limit switch is still pressed, but the state hasn't changed, then calculate elapsed time.
leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
}
if (leftState && (leftElapsedTime > 500)) { // * If the left limit switch is pressed for more than half a second, update the encoder position.
m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);
}
leftPrevState = leftState; // * Update the state of the left limit switch.
}
/**