Internals (again) #25
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| @@ -103,15 +99,14 @@ public InternalSubsystem(TurretSubsystem turretSubsystem) { | |||
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| // if we are in auton we start with 1 ball | |||
| if (DriverStation.isAutonomous()) { | |||
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Since this is called in the subsystem constructor (and the constructor invoked during robot initialization) I don't think this will work to set ballCount to 1 when autonomous initializes. We might need to put it in Robot.autonomousInit() and pass InternalSubsystem from RobotContainer to Robot via a getter.
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We can test out both ways. Can you test in shop to see if the ball count prints as 1 when we start autonomously?
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The idea involving Robot.autonomousInit() would set ballCount to 1 every time autonomous begins which is something to watch for in testing if we're running autonomous repeatedly.
| @@ -143,14 +138,12 @@ public void periodic() { | |||
| motorBottom.set(0); | |||
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| prevEntranceDetected = false; | |||
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Does the explicit set of prevEntranceDetected to false accomplish anything different when it's set to entranceDetected on line 110? I feel like this set would just be immediately overridden the next periodic loop.
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I believe it allows us to detect if a new ball enters or is entering internals, though it probably is already false from the ball moving. We can delete it, especially if it might be true (and another ball has entered).
Exit will not exist on robot 2 and is not being used on robot 1.
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Reopening this PR to address some final concerns with internals (and stress testing to see if the code can be broken) before marking it as fully finished.
Initial commit addresses #20 (comment).