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Is wantedState correct? #38

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binnur opened this issue Feb 15, 2019 · 1 comment

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binnur commented Feb 15, 2019

@pietroglyph not sure I follow the use case -- should the wantedState be ALIGN_AND_EJECT_PANEL as I am assuming we just BACKING_OUT_FROM_LOADING?

2019-DeepSpace/src/main/java/com/spartronics4915/frc2019/subsystems/Superstructure.java

Line 292 in bbe7e69

    
           if (mWantedState == WantedState.ALIGN_AND_INTAKE_PANEL && mDrive.isDoneTurning())

pietroglyph self-assigned this

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pietroglyph commented Feb 15, 2019 •

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@binnur BACKING_OUT_FROM_LOADING is part of the chain of states that are part of the ALIGN_AND_INTAKE_PANEL wanted state... It goes like this:

ALIGNING_CLOSEST_REVERSE_TARGET
INTAKING_PANEL
BACKING_OUT_FROM_LOADING <-- This could be BACKING_OUT_FROM_PANEL_INTAKE
TURNING_AROUND

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