Conveyor #6
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Conveyor #6
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vichik123
requested changes
Sep 19, 2021
| * | ||
| * @param power % | ||
| */ | ||
| public void setMotor(double power) { |
| * @return boolean sensed. | ||
| */ | ||
| public boolean senseShooterBall() { | ||
| return shooterProximity.getValue() > Constants.Conveyor.MIN_PROXIMITY_DISTANCE; |
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Check if the value is between, min and max, in case the sensor has an error
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { |
orel-david
suggested changes
Sep 19, 2021
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| public static final int SENSE_DISTANCE = 0; | ||
| public static final int MIN_PROXIMITY_DISTANCE = 0; | ||
| public static final int MAX_PROXIMITY_DISTANCE = 0; |
| } | ||
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| /** | ||
| * Add boolean stopper open/ close. |
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This method doesn't add a boolean, it checks whether the stopper is open or not.
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| public static final boolean NEW_SHOOTER_BALL = false; | ||
| public static final boolean NEW_FUNNEL_BALL = false; |
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| newFunnelBall = false; | ||
| } else { | ||
| newFunnelBall = true; | ||
| } |
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You should tell if this is a new ball by checking if the sensor stopped sensing one.
| this.conveyor = conveyor; | ||
| this.power = power; | ||
| addRequirements(conveyor); | ||
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| this.conveyor = conveyor; | ||
| this.power = power; | ||
| addRequirements(conveyor); | ||
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| public void execute() { | ||
| if (conveyor.senseFunnelBall() && conveyor.getBallNum() <= Constants.Conveyor.MAX_BALLS) { | ||
| conveyor.setMotor(power); | ||
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| public SetStopperMode(Conveyor conveyor, boolean open) { | ||
| this.conveyor = conveyor; | ||
| this.open = open; | ||
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Motors: TalonSRX- motor, Solenoid- stopper.
Sensors: AnalogInput- funnelProximity, AnalogInput- shooterProximity.
The code is responsible for the movment of the conveyor.