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Update packetLossCheckerInator.java

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This commit is contained in:
Michael Mikovsky
2024-12-03 17:03:37 -07:00
parent 95c9712a5a
commit a11866d54a
1 changed files with 8 additions and 3 deletions
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src/main/java/frc4388/robot/commands/packetLossCheckerInator.java
+8 -3
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@@ -37,11 +37,16 @@ public class packetLossCheckerInator extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
double angle = pigeon.getAngle(); double angle = pigeon.getYaw().getValue();
if ((int) Math.round(angle) != lastAngle) errorCount++; if ((int) Math.round(angle) != lastAngle) {
errorCount++;
System.out.print(angle);
System.out.print(", ");
System.out.println(lastAngle);
}
angle += 1; angle += 1;
lastAngle = (int) angle; lastAngle = (int) Math.round(angle);
StatusCode e = pigeon.setYaw(lastAngle); StatusCode e = pigeon.setYaw(lastAngle);
if (statusMap.containsKey(e.value)) statusMap.put(e.value, statusMap.get(e.value) + 1); if (statusMap.containsKey(e.value)) statusMap.put(e.value, statusMap.get(e.value) + 1);
else statusMap.put(e.value, 1); //statusMap.get(e.value) else statusMap.put(e.value, 1); //statusMap.get(e.value)