Clean up IntakeAssembly (#111 / #112 / #114) #117
Conversation
cjlawson02
added
enhancement
cjlawson02
changed the title
|
I’ll try to come in Tuesday but I might not be able to make it. If I do make it, I’ll test. |
|
I can probably work with ChrisM to test this Tuesday afternoon |
|
Can you also do #112 in here? Literally all you gotta do is remove all references to |
|
Ok |
cjlawson02
changed the title
src/TeleopMode.cpp
Outdated
| if (m_intakeAssembly->GetClaw()->IsCubeIn()) { | ||
| m_cubeIntakeState = CubeIntakeState::Idle; | ||
| m_intakeAssembly->HoldCube(); | ||
| m_intakeAssembly->Flash(); |
src/TeleopMode.cpp
Outdated
| } | ||
| else { | ||
| m_intakeAssembly->StopIntake(); | ||
| s_intaking = false; | ||
| m_cubeIntakeState = CubeIntakeState::Idle; |
There was a problem hiding this comment.
you will need to call m_intakeAssembly->HoldCube() here otherwise it'll continue intaking forever
src/TeleopMode.cpp
Outdated
| } | ||
| else { | ||
| m_intakeAssembly->StopIntake(); | ||
| m_cubeIntakeState = CubeIntakeState::Idle; |
| @@ -65,7 +65,8 @@ void CenterSwitchAuto::Execute(AutoRoutineBase::AutoDirection direction) { | |||
| break; | |||
| case 3: | |||
| if (m_drive->GetSplinePercentComplete() > 0.9) { | |||
| m_intakeAssembly->WideIntake(); | |||
| m_intakeAssembly->RunIntake(-1.0); | |||
| m_intakeAssembly->OpenClaw(); | |||
| } | ||
| if (m_intakeAssembly->GetWrist()->IsCubeIn() || | ||
| if (m_intakeAssembly->GetClaw()->IsCubeIn() || |
There was a problem hiding this comment.
ohh this probably looks confusing but let me explain
GetClaw() should return something of type const Claw*. In C++ when you have a const object, you're only allowed to call const methods (methods that explicitly have the const keyword on them). C++ does this so you don't accidentally change things if you only have a const reference to it.
Anything that changes Elevator, Claw, and Wrist needs to go through IntakeAssembly because IntakeAssembly needs to make sure the states stay in sync. Anything that reads from Elevator, Claw, and Wrist is fair game because you can't screw it up through a read. That's why for reads we can say e.g. m_intakeAssembly->GetElevator()->GetHeight();
There was a problem hiding this comment.
What do I need to change?
There was a problem hiding this comment.
nothing here
just change the definitions of GetWrist, GetClaw, and GetElevator to return const Wrist *, const Claw*, and const Elevator* respectively
hold the cube, and const on Get____ functions
|
Tested 3. April. 2018 |
Fixes #111. Still needs javadocs