Potentially risky but... first generation laser can failure detection#338
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Potentially risky but... first generation laser can failure detection#338
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JohnGilb
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Apr 2, 2025
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For this 1st generation, just use the akitLog to record this "I want to disable the LaserCAN" value to see if this triggers at all during normal operation.
My main concern is that noise could trigger this even when nothing surprising is happening.
| masterMotor.setTrapezoidalProfileJerk(RadiansPerSecondPerSecond.of(motionMagicJerk.get()).per(Second)); | ||
| } | ||
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| public void setUseDistanceSensor(boolean value) { |
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⭐ for callers, it's nice when the argument is self-documenting (e.g. instead of value, something like useLaserCANSensor)
| // We are in a state of not good stuff and should disable the distance sensor | ||
| if (previousLaserCanDistance.minus(d).in(Meters) > laserCanOffsetThreshold.get() | ||
| && masterMotor.getRawVelocity().baseUnitMagnitude() > 0) { | ||
| if (badMotorLaserCanHarmonyCount < harmonyThreshold) { |
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nit: suggest renaming to badHarmonyBetweenLaserCanAndMotorCount ; it's longer but makes it clear that harmony refers to the relationship between these two devices.
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