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Changes to SmartIntake, need to be confirmed and pushed to master #18

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merged 2 commits into from
Feb 21, 2024
Merged

Changes to SmartIntake, need to be confirmed and pushed to master #18

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aa20728
Changes to SmartIntake, need to be confirmed and pushed to master
JoeyBrar Feb 19, 2024
93dab1c
SmartIntake Debugging
NottheIRS Feb 20, 2024
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61 changes: 15 additions & 46 deletions src/main/cpp/subsystems/SmartIntake.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,43 +59,28 @@ 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;
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This should not be in the default case. Make an explicit case for switching over to false. We use the default case to do nothing

break;
}
}
else
{
switch (m_IntakeState)
{
case 0:
case 2:
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this should start at case 0.

{
/* code */
input.intakeInput.runIntakeIn = true;
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checking if the laser hit should be in the true case. The if statement should conditionally transfer to the false case

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)
Expand Down Expand Up @@ -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;
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see associated comment for intake

break;
}
}
Expand All @@ -159,15 +125,18 @@ void SmartIntake::HandleInput(RobotControlData& input){

switch (m_OutTakeState)
{
case 0:
case 2:
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see associated comment for intake

{
/* code */
input.intakeInput.runIntakeOut = true;
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see associated comment for intake

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)
Expand Down