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docs for weird timed switch thing

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aarav18
2022-03-17 11:05:43 -06:00
parent ebd78f2543
commit 87a6707cc6
1 changed files with 16 additions and 37 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+16 -37
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@@ -37,18 +37,12 @@ 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 leftPrevState = false;
boolean hasLeftSwitchChanged = false;
long leftCurrentTime;
long rightCurrentTime;
long leftElapsedTime;
long rightElapsedTime;
public Turret(CANSparkMax boomBoomRotateMotor) {
@@ -117,39 +111,24 @@ 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();
// rightState = m_boomBoomRightLimit.isPressed();
leftState = m_boomBoomLeftLimit.isPressed(); // * Get the state of the left limit switch (true for pressed).
// hasLeftSwitchChanged = (leftState != leftPrevState);
// hasRightSwitchChanged = (rightState != rightPrevState);
hasLeftSwitchChanged = (leftState != leftPrevState); // * Get whether the state of the left limit switch has changed, based on its previous state.
// if (leftState && hasLeftSwitchChanged) {
// leftCurrentTime = System.currentTimeMillis();
// leftElapsedTime = 0;
// }
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) { // * If the left limit switch is still pressed, but the state hasn't changed, then calculate elapsed time.
leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
}
// if (rightState && hasRightSwitchChanged) {
// rightCurrentTime = System.currentTimeMillis();
// rightElapsedTime = 0;
// }
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);
}
// if (leftState && !hasLeftSwitchChanged) {
// leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
// }
// if (rightState && !hasRightSwitchChanged) {
// rightElapsedTime = System.currentTimeMillis() - rightCurrentTime;
// }
// if (leftState && (leftElapsedTime > 500)) {
// m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_HARD_LIMIT);// -95/*ShooterConstants.TURRET_FORWARD_SOFT_LIMIT - 2*/);
// }
// if (rightState && (rightElapsedTime > 500)) {
// m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);// 0/*ShooterConstants.TURRET_REVERSE_LIMIT + 2*/);
// }
// leftPrevState = leftState;
// rightPrevState = rightState;
leftPrevState = leftState; // * Update the state of the left limit switch.
}
/**