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Finish Arm state when Arm arrives

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Cyberarm
2023-01-29 17:47:57 -06:00
parent 2a9ac57313
commit 4b04dc2799
1 changed files with 8 additions and 1 deletions
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9
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Arm.java
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@@ -8,7 +8,7 @@ public class Arm extends CyberarmState {
private final String groupName, actionName; private final String groupName, actionName;
private final double targetVelocity, timeInMS; private final double targetVelocity, timeInMS;
private final int tolerance, targetPosition; private final int tolerance, halfTolerance, targetPosition;
private final boolean stateDisabled; private final boolean stateDisabled;
public Arm(Robot robot, String groupName, String actionName) { public Arm(Robot robot, String groupName, String actionName) {
@@ -25,6 +25,8 @@ public class Arm extends CyberarmState {
timeInMS = robot.getConfiguration().variable(groupName, actionName, "timeInMS").value(); timeInMS = robot.getConfiguration().variable(groupName, actionName, "timeInMS").value();
stateDisabled = !robot.getConfiguration().action(groupName, actionName).enabled; stateDisabled = !robot.getConfiguration().action(groupName, actionName).enabled;
halfTolerance = Math.round(tolerance / 2.0f);
} }
@Override @Override
@@ -49,5 +51,10 @@ public class Arm extends CyberarmState {
return; return;
} }
int position = robot.arm.getCurrentPosition();
if (robot.isBetween(position, position - halfTolerance, position + halfTolerance)) {
setHasFinished(true);
}
} }
} }