Add lights on java side to tell difference between number of cameras … #273
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…ag design might not reflect changing to custom and change back to default
| return 1; | ||
| } | ||
| // If none of the cameras are working, return 0 | ||
| return 0; |
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this logic doesn't match up with what you declared in the enum above:
currentState = 8 should be no cameras working
9 should be all cameras working
10 should be some cameras working
the same applies for custom autos as well.
src/main/java/competition/Robot.java
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| @@ -59,7 +59,7 @@ protected void initializeSystems() { | |||
| var autoSelector = getInjectorComponent().autonomousCommandSelector(); | |||
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| autoSelector.setCurrentAutonomousCommand(defaultAuto); | |||
| autoSelector.setIsDefault(true); | |||
| //autoSelector.setIsDefault(true); | |||
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⭐ suggest just removing this if we're not going to support it anymore
| @@ -32,6 +36,12 @@ public class LightSubsystem extends BaseSubsystem { | |||
| public enum LightsStateMessage{ | |||
| NoCode(15), // we never send this one, it's implicit when the robot is off | |||
| // and all of the DIOs float high | |||
| SomeCamerasWorkingCustom(13), | |||
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⭐ someone just reading these might not know what Custom vs Default refer to, consider being more explicit.
Example idea: DisabledDefaultAutoSomeCamerasWorking
Also do these states not replace 6-7 in principal?
| @@ -433,4 +433,17 @@ public void refreshDataFrame() { | |||
| } | |||
| } | |||
| } | |||
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| public int cameraWorkingState() { | |||
| if (allCameras.stream().anyMatch(state -> !state.isCameraWorking())) { | |||
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⭐ ⭐ ⭐ I think this logic might have a problem, this is just saying any of the cameras aren't working, so wouldn't this be true if they're all not working?
Would suggest flipping the logic to:
- check if all are working, return 0
- else if any are working, return 2
- else return 1
| DisabledCustomAutoAllCamerasWorking(11), | ||
| DisabledDefaultAutoSomeCamerasWorking(10), | ||
| DisabledDefaultAutoNoCameraWorking(9), | ||
| DisabledDefaultAutoAllCamerasWorking(8), |
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⭐ why not still use 6-7 up vs sliding everything over?
…working
Why are we doing this?
Add camera states into the light system
Asana task URL:
Whats changing?
Questions/notes for reviewers
How this was tested