Add Servo for Limelight/toggle button #37
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| public void changeServoStatus(boolean status) { | ||
| isLimelightSearching = status; | ||
| if (isLimelightSearching() == false) { | ||
| limelightServo.setAngle(kLimeBottomAngle); // TODO: set correct angle | ||
| } else { | ||
| limelightServo.setAngle(kLimeTopAngle); // TODO: set correct angle | ||
| } | ||
| } |
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This will actually set the limelight to the opposite state of isLimelightSearching. If true is passed into the function (indicating that the Limelight should be searching), isLimelightSearching will become true, so isLimelightSearching == false will be false. Thus, limelightServo.setAngle(kLimeTopAngle); will be called instead of limelightServo.setAngle(kLimeBottomAngle);
| public static final int kIntakeButton = X; | ||
| public static final int kOuttakeButton = Y; | ||
| // limelight toggle | ||
| public static final int kLimelightToggleButton = 0; //TODO: set button |
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Work with the driver to pick an unused button. I'm concerned that 0 might interfere with an existing button or cause a runtime error.
| private static double kLimeTopAngle = 0; //TODO: set correct angle | ||
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| private final CANSparkMax rollerMotor = MotorControllerFactory.createSparkMax(Constants.DrivePorts.kIntakeRoller); | ||
| private final Servo limelightServo = new Servo(0); //TODO: set proper channel |
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Move the 0 and TODO to Constants.java with other port numbers.
| public boolean isLimelightSearching() { | ||
| return isLimelightSearching; | ||
| } | ||
| public void changeServoStatus(boolean status) { |
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Rename to setLimelightSearching(), since it isn't clear what a "servo status" is or what true or false would mean.
| private static double kLimeBottomAngle = 0; //TODO: set correct angle | ||
| private static double kLimeTopAngle = 0; //TODO: set correct angle |
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Specify units in variable names (e.g. kLimeBottomAngleDegs).
…BlueRobotics/RobotCode2021 into support-turning-limelight-2
Fixed command for Limelight Servo, added button to toggle limelight