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FRC4048 / FRC2024_Java

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multithreading color sensor #153

Closed goatfanboi23 closed 7 months ago

goatfanboi23 commented 7 months ago

Needs to be tested.

goatfanboi23 commented 7 months ago

Overall cool approach! Nice job. The issue I have is that we don't really know what the problem with the intake is (at least, I haven't seen anything that analyzes it). This solution assumes that the detection is too late when the periodic actually runs, which may be part of the problem but it won't solve the case that there was a detection but the piece keeps on going after the motor stop call because of momentum. I think more research on that would be appropriate. We can certainly experiment with this solution though to see if it is better.

The reason I believe the color sensor is noting being updated fast enough is because the startFeeder command is timeing out durring auto meaning it was not tripped when the gamepiece was intaked. In terms of the momentum problem hopefully we can fix that with modifying motor speed.