Turret fop #154
Turret fop #154
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This reverts commit d19f490.
aykhm
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aykhm
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also run formatting before you commit!
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| val rezeroTurret by operator.rezeroTurret.readEagerly().withoutStamps | ||
| val reindexCarousel by operator.reindexCarousel.readEagerly().withoutStamps | ||
| val track by operator.trackTarget.readEagerly().withoutStamps |
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rename to smth slightly more descriptive
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| } | ||
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| suspend fun TurretComponent.fieldOriented(drivetrain: DrivetrainComponent, limelight: LimelightComponent, turret: TurretComponent) { |
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turret doesn't need to be a paremeter, the function is an extension function of TurretComponent
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| controller { | ||
| if (lastLimelightPos != null) { | ||
| val pitch by drivetrain.hardware.pitch.readEagerly().withoutStamps |
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move sensor stuff to before the controller block
| { rezeroTurret } to { turret?.rezero(electrical) ?: freeze() }, | ||
| { reindexCarousel } to { whereAreMyBalls() }, | ||
| {track} to { | ||
| trackTargetTurret() |
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you can just do turret?.fieldOriented(drivetrain, limelight) ?: freeze() and get rid of the trackTargetTurret function
| if(reading != null) lastLimelightPos = reading | ||
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| controller { | ||
| if (lastLimelightPos != null) { |
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make a copy of lastLimelightPos so you don't have to use !! later in line 95 (what if lastLimlightPos changes to null while this routine is running?)
| val position = limelight.hardware.conversions.outerGoalPosition(lastLimelightPos!!, bearing, pitch) | ||
| val angle = atan2(position.x - drivetrainPosition.x, position.y - drivetrainPosition.y) | ||
| val target = (angle `coterminal +` drivetrainPosition.bearing) | ||
| if (abs(target) > 2.Degree) { |
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if we stop driving and aim to fire then we'll have up to 2 degrees of error D:
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| val safeSpeed by pref(1, Volt) | ||
| val windupPosition by pref(-90, Degree) | ||
| var lastLimelightPos: LimelightReading? = null |
Code works now.
Button press --> tracks until any other turret routine is called.
when button pressed, looks for new target and tracks that.