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Calibrate independently rather than both if any hit #102

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merged 2 commits into from
Feb 17, 2024
Merged

Calibrate independently rather than both if any hit #102

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72ad4b6
Calibrate independently rather than both if any hit
Rongrrz Feb 17, 2024
9e7cd47
Merge branch 'main' into Independent-arm-calibration
Rongrrz Feb 17, 2024
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15 changes: 7 additions & 8 deletions src/main/java/competition/subsystems/arm/ArmSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -369,17 +369,16 @@ public void armEncoderTicksUpdate() {
}


// Update the offset of the arm when it touches either forward/reverse limit switches for the first time.
// Update the offset of the arm when it touches reverse limit switches for the first time.
// Both arms calibrate independently
public void calibrateArmOffset() {
// For now keeping the concept of left/right having independent calibration,
// but for simplicity, hitting either limit will calibrate both for now.
if ((!hasCalibratedLeft || !hasCalibratedRight)
&& (getLimitState(armMotorLeft) == LimitState.LOWER_LIMIT_HIT
|| getLimitState(armMotorRight) == LimitState.LOWER_LIMIT_HIT))
{
if (!hasCalibratedLeft && getLimitState(armMotorLeft) == LimitState.LOWER_LIMIT_HIT) {
hasCalibratedLeft = true;
hasCalibratedRight = true;
armMotorLeftRevolutionOffset = -armMotorLeft.getPosition();
}

if (!hasCalibratedRight && getLimitState(armMotorRight) == LimitState.LOWER_LIMIT_HIT) {
hasCalibratedRight = true;
armMotorRightRevolutionOffset = -armMotorRight.getPosition();
}
}
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