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…ing back to coral mode
…have a coral and will wait until switching to coral mode to do a quickhand off
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needs testing |
markpete
reviewed
Sep 19, 2025
| getAlgaeIntakeCommand(), | ||
| Commands.deferredProxy( | ||
| () -> { | ||
| if (sensors.armSensor != null |
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Are we doing the right thing in these cases where .armSensor == null? I get that we don't want to dereference sensors.armSensor, but is the else {} case the correct result or should it fall out of the behaviors with an error.
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Same question broadly across this PR in multiple places.
markpete
reviewed
Sep 19, 2025
…o SoloController
markpete
reviewed
Sep 26, 2025
| ScoringMode currentMode = scoringMode.get(); | ||
| if (currentMode == ScoringMode.ALGAE) { | ||
| SoloScoringMode currentMode = scoringMode.get(); | ||
| if (currentMode == SoloScoringMode.ALGAE_IN_CLAW) { |
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Change to a switch() for readability.
markpete
reviewed
Sep 26, 2025
| if (groundSpinny == null || groundArm == null) { | ||
| return Commands.none().withName("ground intake manual disabled"); | ||
| } else { | ||
| BooleanSupplier clawFull = armSensor != null ? armSensor.inClaw() : () -> false; |
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Do you want to log if armSensor is null to ease debugging at an event?
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After further review I don’t think this is gonna work but will be tested on 09/29. |
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supacycle has fallen 😔 |
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supercycling