From aa207283f5421186ee61d78154f8fdc71561e5ec Mon Sep 17 00:00:00 2001 From: JoeyBrar Date: Sun, 18 Feb 2024 20:08:59 -0500 Subject: [PATCH 1/2] Changes to SmartIntake, need to be confirmed and pushed to master --- src/main/cpp/subsystems/SmartIntake.cpp | 61 ++++++------------------- 1 file changed, 15 insertions(+), 46 deletions(-) diff --git a/src/main/cpp/subsystems/SmartIntake.cpp b/src/main/cpp/subsystems/SmartIntake.cpp index 870cbe8..d2e4a4e 100644 --- a/src/main/cpp/subsystems/SmartIntake.cpp +++ b/src/main/cpp/subsystems/SmartIntake.cpp @@ -59,27 +59,9 @@ void SmartIntake::HandleInput(RobotControlData& input){ } } break; - case 2: - { - input.intakeInput.runIntakeIn = true; - if (input.smartIntakeInput.laser){ - input.intakeInput.runIntakeIn = false; - input.intakeInput.goToPseudoStowPos = true; - ++m_IntakeState; - } - - } - break; - case 3: - { - input.intakeInput.goToPseudoStowPos = false; - if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW) - { - ++m_IntakeState; - } - } - break; + default: + m_SmartIntakeFlag = false; break; } } @@ -87,15 +69,18 @@ void SmartIntake::HandleInput(RobotControlData& input){ { switch (m_IntakeState) { - case 0: + case 2: { - /* code */ + input.intakeInput.runIntakeIn = true; + if (input.smartIntakeInput.laser){ input.intakeInput.runIntakeIn = false; input.intakeInput.goToPseudoStowPos = true; ++m_IntakeState; + } + } break; - case 1: + case 3: { input.intakeInput.goToPseudoStowPos = false; if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW) @@ -130,27 +115,8 @@ void SmartIntake::HandleInput(RobotControlData& input){ } } break; - case 2: - { - input.intakeInput.runIntakeOut = true; - if (input.smartIntakeInput.laser){ - input.intakeInput.runIntakeOut = false; - input.intakeInput.goToPseudoStowPos = true; - ++m_OutTakeState; - } - - } - break; - case 3: - { - input.intakeInput.goToPseudoStowPos = false; - if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW) - { - ++m_OutTakeState; - } - } - break; default: + m_SmartOutTakeFlag = false; break; } } @@ -159,15 +125,18 @@ void SmartIntake::HandleInput(RobotControlData& input){ switch (m_OutTakeState) { - case 0: + case 2: { - /* code */ + input.intakeInput.runIntakeOut = true; + if (input.smartIntakeInput.laser){ input.intakeInput.runIntakeOut = false; input.intakeInput.goToPseudoStowPos = true; ++m_OutTakeState; + } + } break; - case 1: + case 3: { input.intakeInput.goToPseudoStowPos = false; if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW) From 93dab1c9753293fdb3b697226b4a9cbfe435250a Mon Sep 17 00:00:00 2001 From: NottheIRS <92690588+NottheIRS@users.noreply.github.com> Date: Tue, 20 Feb 2024 18:59:49 -0500 Subject: [PATCH 2/2] SmartIntake Debugging --- src/main/cpp/subsystems/SmartIntake.cpp | 55 ++++++++++++++----------- 1 file changed, 32 insertions(+), 23 deletions(-) diff --git a/src/main/cpp/subsystems/SmartIntake.cpp b/src/main/cpp/subsystems/SmartIntake.cpp index d2e4a4e..09214f5 100644 --- a/src/main/cpp/subsystems/SmartIntake.cpp +++ b/src/main/cpp/subsystems/SmartIntake.cpp @@ -59,9 +59,17 @@ void SmartIntake::HandleInput(RobotControlData& input){ } } break; - + case 2: + { + input.intakeInput.runIntakeIn = true; + if (input.smartIntakeInput.laser) + { + m_SmartIntakeFlag = false; + m_IntakeState = 0; + } + } + break; default: - m_SmartIntakeFlag = false; break; } } @@ -69,18 +77,14 @@ void SmartIntake::HandleInput(RobotControlData& input){ { switch (m_IntakeState) { - case 2: + case 0: { - input.intakeInput.runIntakeIn = true; - if (input.smartIntakeInput.laser){ - input.intakeInput.runIntakeIn = false; - input.intakeInput.goToPseudoStowPos = true; - ++m_IntakeState; - } - + input.intakeInput.runIntakeIn = false; + input.intakeInput.goToPseudoStowPos = true; + ++m_IntakeState; } break; - case 3: + case 1: { input.intakeInput.goToPseudoStowPos = false; if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW) @@ -115,8 +119,17 @@ void SmartIntake::HandleInput(RobotControlData& input){ } } break; + case 2: + { + input.intakeInput.runIntakeOut = true; + if (input.smartIntakeInput.laser) + { + m_SmartOutTakeFlag = false; + m_OutTakeState = 0; + } + } + break; default: - m_SmartOutTakeFlag = false; break; } } @@ -125,18 +138,14 @@ void SmartIntake::HandleInput(RobotControlData& input){ switch (m_OutTakeState) { - case 2: - { - input.intakeInput.runIntakeOut = true; - if (input.smartIntakeInput.laser){ - input.intakeInput.runIntakeOut = false; - input.intakeInput.goToPseudoStowPos = true; - ++m_OutTakeState; - } - + case 0: + { + input.intakeInput.runIntakeOut = false; + input.intakeInput.goToPseudoStowPos = true; + ++m_OutTakeState; } break; - case 3: + case 1: { input.intakeInput.goToPseudoStowPos = false; if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW) @@ -150,7 +159,7 @@ void SmartIntake::HandleInput(RobotControlData& input){ } } - // needs to go at the bottom + // needs to go at the bottom m_prevSmartIntake = input.smartIntakeInput.smartIntake; m_prevSmartOutTake = input.smartIntakeInput.smartOutTake; m_prevSwitchMode = input.smartIntakeInput.switchMode;