From 0555f6f4813c2943301b812446eaa9e334fdaa25 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Fri, 8 Mar 2024 12:11:14 -0600
Subject: [PATCH] docs: fix example

---
 packages/pros/examples/accessories.rs | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/packages/pros/examples/accessories.rs b/packages/pros/examples/accessories.rs
index 811849f5..e9329a54 100644
--- a/packages/pros/examples/accessories.rs
+++ b/packages/pros/examples/accessories.rs
@@ -23,7 +23,7 @@ impl ExampleRobot {
     pub fn new(peripherals: Peripherals) -> Self {
         Self {
             motor: Arc::new(Mutex::new(
-                Motor::new(peripherals.port_2, Gearset::Green, false).unwrap(),
+                Motor::new(peripherals.port_2, Gearset::Green, Direction::Forward).unwrap(),
             )),
             vision: VisionSensor::new(peripherals.port_9, VisionZeroPoint::Center).unwrap(),
         }
@@ -40,9 +40,6 @@ impl AsyncRobot for ExampleRobot {
         });
 
         handle.await;
-        // Create a new motor plugged into port 2. The motor will brake when not moving.
-        // We'll wrap it in an Arc<Mutex<T>> to allow safe access to the device from multiple tasks.
-        self.motor.lock().wait_until_stopped().await?;
 
         // Create a controller, specifically controller 1.
         let controller = Controller::Master;
@@ -56,14 +53,14 @@ impl AsyncRobot for ExampleRobot {
             move || loop {
                 println!(
                     "Motor stopped? {}",
-                    motor.lock().get_state().unwrap_or_default().stopped
+                    motor.lock().velocity() < 2
                 );
 
                 // Sleep the task as to not steal processing time from the OS.
                 // This should always be done in any loop, including loops in the main task.
                 // Because this is a real FreeRTOS task this is not the sleep function used elsewhere in this example.
                 // This sleep function will block the entire task, including the async executor! (There isn't one running here, but there is in the main task.)
-                delay(Duration::from_millis(20));
+                delay(Duration::from_millis(Motor::DATA_READ_RATE));
             }
         });
 
@@ -72,7 +69,7 @@ impl AsyncRobot for ExampleRobot {
             // Set output takes a float from -1 to 1 that is scaled to -12 to 12 volts.
             self.motor
                 .lock()
-                .set_output(controller.state()?.joysticks.right.y)?;
+                .set_voltage(Motor::MAX_VOLTAGE * controller.state()?.joysticks.right.y)?;
 
             // println!("pid out {}", pid.update(10.0, motor.position().into_degrees() as f32));
             println!(