Closed robot256 closed 1 year ago
It turns out that we do actually need to update the fetcher offset on the cycle when the lever first goes above horizontal. Otherwise you miss a whole cycle, and it only lasts about 4 cycles to begin with.
Solution: Move the cancel-offset and unpause block https://github.com/FTC7393/FtcRobotController/blob/66c032a3d0e70bb2fc5c49dc873b3f365859e927/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PowerPlay/Scorer.kt#L188-L206 to below the place where the offset is applied https://github.com/FTC7393/FtcRobotController/blob/66c032a3d0e70bb2fc5c49dc873b3f365859e927/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PowerPlay/Scorer.kt#L208-L212
It turns out that we do actually need to update the fetcher offset on the cycle when the lever first goes above horizontal. Otherwise you miss a whole cycle, and it only lasts about 4 cycles to begin with.
Solution: Move the cancel-offset and unpause block https://github.com/FTC7393/FtcRobotController/blob/66c032a3d0e70bb2fc5c49dc873b3f365859e927/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PowerPlay/Scorer.kt#L188-L206 to below the place where the offset is applied https://github.com/FTC7393/FtcRobotController/blob/66c032a3d0e70bb2fc5c49dc873b3f365859e927/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PowerPlay/Scorer.kt#L208-L212