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Amp led fix #42

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Amp led fix #42

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4355d98
fix: amp LED is accurate now
ProgrammingSR Apr 4, 2024
abe456f
made constant for amp tolerance
ProgrammingSR Apr 4, 2024
fe08afa
chore: readability
ProgrammingSR Apr 4, 2024
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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,8 @@ public static final class IntakeConstants {
// In degrees
public static final double kIntakeLoweredAngle = -193;
public static final double kIntakeRaisedAngle = 0;
public static final double kIntakeAmpScoringAngle = -71; // 193 - 100 (previous angle)
public static final double kIntakeAmpScoringAngle = -71;
public static final int kIntakeAmpTolerance = 2;

/** Encoder offset in rotations */
public static final double kArmEncoderOffset = 0.715;
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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Expand Up @@ -81,7 +81,7 @@ public double getArmPosition() {
}

public boolean ampReady(){
return ((m_armEncoder.getDistance() < IntakeConstants.kIntakeAmpScoringAngle + 1) || (m_armEncoder.getDistance() > IntakeConstants.kIntakeAmpScoringAngle - 1));
return m_armEncoder.getDistance() < (IntakeConstants.kIntakeAmpScoringAngle + IntakeConstants.kIntakeAmpTolerance) && m_armEncoder.getDistance() > (IntakeConstants.kIntakeAmpScoringAngle - IntakeConstants.kIntakeAmpTolerance);
}

public boolean armAtSetpoint() {
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