Arm catapult check #64
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| public double getArmAngle() { | ||
| return m_arm.getAngle(); | ||
| } |
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This function is not used anywhere here
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| // catapult | ||
| _operatorController.povLeft() | ||
| .onTrue( | ||
| m_ArmFunnelSuperStructure.generateSetStateCommand(ArmState.MID_CUBE, FunnelState.COLLECT) | ||
| .andThen( | ||
| m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, | ||
| FunnelState.CLOSED))); | ||
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| // catapult collect | ||
| _operatorController.triangle() | ||
| .onTrue( | ||
| m_manipulator.setManipulatorStateCommand(ManipulatorState.HOLD).andThen( | ||
| m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.OPEN))); | ||
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| // close funnle without opening manipulator | ||
| _operatorController.povRight().onTrue( | ||
| m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED)); |
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We already use almost every button on the controller, more buttons mean more chances for error. Did we practice this?
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| // catapult collect | ||
| _operatorController.triangle() | ||
| .onTrue( | ||
| m_manipulator.setManipulatorStateCommand(ManipulatorState.HOLD).andThen( | ||
| m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.OPEN))); |
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Why do we need atapult collect? Can't we collect normally and when we want to score call catapult collect followed by catapult
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| // close funnle without opening manipulator | ||
| _operatorController.povRight().onTrue( | ||
| m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED)); |
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how is this used in the sequence?
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| SmartDashboard.putNumber("cataAngle", SmartDashboard.getNumber("cataAngle", 0)); |
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We don't use this value anywhere here
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| m_manipulator.setManipulatorStateCommand(ManipulatorState.HOLD).andThen( | ||
| m_ArmFunnelSuperStructure.getSetStateCommand(ArmState.COLLECT, FunnelState.CLOSED)) |
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Why would we want to close the manipulator in the collect sequence?
| @@ -0,0 +1 @@ | |||
| [] | |||
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