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set downDistance sensor, added telemetry for cone distance

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Cyberarm
2022-12-08 21:02:47 -06:00
parent 40534a7106
commit 798849ae78
2 changed files with 2 additions and 0 deletions
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TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
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@@ -63,6 +63,7 @@ public class PhoenixBot1 {
private void setupRobot () { private void setupRobot () {
collectorDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "collectorDistance"); collectorDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "collectorDistance");
downSensor = engine.hardwareMap.get(Rev2mDistanceSensor.class, "downDistance");
leftPoleDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "Left Pole Distance"); leftPoleDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "Left Pole Distance");
rightPoleDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "Right Pole Distance"); rightPoleDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "Right Pole Distance");

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TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java
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@@ -47,6 +47,7 @@ public class PhoenixTeleOPState extends CyberarmState {
engine.telemetry.addData("IMU", robot.imu.getAngularOrientation().firstAngle); engine.telemetry.addData("IMU", robot.imu.getAngularOrientation().firstAngle);
engine.telemetry.addData("Drive Power", drivePower); engine.telemetry.addData("Drive Power", drivePower);
engine.telemetry.addData("Delta Rotation", DeltaRotation); engine.telemetry.addData("Delta Rotation", DeltaRotation);
engine.telemetry.addData("Cone Distance", robot.collectorDistance.getDistance(DistanceUnit.MM));
engine.telemetry.addData("Collector Height", robot.downSensor.getDistance(DistanceUnit.MM)); engine.telemetry.addData("Collector Height", robot.downSensor.getDistance(DistanceUnit.MM));
engine.telemetry.addData("Left Pole Distance", robot.leftPoleDistance.getDistance(DistanceUnit.MM)); engine.telemetry.addData("Left Pole Distance", robot.leftPoleDistance.getDistance(DistanceUnit.MM));
engine.telemetry.addData("Right Pole Distance", robot.rightPoleDistance.getDistance(DistanceUnit.MM)); engine.telemetry.addData("Right Pole Distance", robot.rightPoleDistance.getDistance(DistanceUnit.MM));