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Added telemetry for servos to MentorBot implementation of Phoenix

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Cyberarm
2023-03-25 08:33:36 -05:00
parent c5484131bb
commit 1b148ad75b
1 changed files with 25 additions and 0 deletions
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25
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/phoenix/Robot.java
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@@ -328,6 +328,31 @@ public class Robot {
engine.telemetry.addLine();
// Servo Positions
engine.telemetry.addLine("Servo Positions");
engine.telemetry.addData("Left Riser (Est)", leftRiserServoController.getEstimatedPosition());
engine.telemetry.addData("Right Riser (Est)", rightRiserServoController.getEstimatedPosition());
engine.telemetry.addData("Camera (Blind)", cameraServo.getPosition());
engine.telemetry.addLine();
// Continuous Servo Powers
engine.telemetry.addLine("Servo Powers");
engine.telemetry.addData("Collector Left", collectorLeftServo.getPower());
engine.telemetry.addData("Collector Right", collectorRightServo.getPower());
engine.telemetry.addLine();
// Servo Directions
engine.telemetry.addLine("Servo Directions");
engine.telemetry.addData("Left Riser", leftRiserServoController.getServo().getDirection());
engine.telemetry.addData("Right Riser", rightRiserServoController.getServo().getDirection());
engine.telemetry.addData("Camera", cameraServo.getDirection());
engine.telemetry.addData("Collector Left", collectorLeftServo.getDirection());
engine.telemetry.addData("Collector Right", collectorRightServo.getDirection());
engine.telemetry.addLine();
// Sensors / IMU
engine.telemetry.addLine("IMU");
engine.telemetry.addData(" Facing (Degrees)", facing());