Elevator Safety When Coming Down #227
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JohnGilb
requested changes
Mar 2, 2025
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| private boolean wouldHitBranch(Distance targetValue) { | ||
| var coralArmAngleDangerous = coralArm.getCurrentValue().gt(Degrees.of(coralArmCollisionAngleDegrees.get())); | ||
| var elevatorIsMoving = elevator.getTargetValue() != elevator.getCurrentValue(); |
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This will always be true; you'll have a scenario like:
getTargetValue == 0.458678758
getCurrentValue == 0.458999212
aschokking
approved these changes
Mar 5, 2025
| var currentValue = elevator.getCurrentValue(); | ||
| var wouldCollide = wouldHitBranch(elevator.getTargetValue()); | ||
| var currentTarget = wouldCollide | ||
| ? elevator.getCurrentValue() |
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⭐ ⭐ instead of limiting this to the current value, you could make it where the threshold is so the elevator is allowed to come down until that point?
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Why are we doing this?
Asana task URL:
Whats changing?
Added a safety so elevator will not lower when coral arm is greater than 120 degrees.
Questions/notes for reviewers
How this was tested
Video/screenshots (from simulator or live robot)
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