Shooterlights

[P-McG9]

Description

Lights turn cyan when spinup starts and lime green when at speed.

How Has This Been Tested?

I built it and got no errors. Other than that it has not been tested

[rajitzg]

Overall looks pretty good, but there are a couple changes that need to be made. Also, try applying spotless again— it seems to be complaining (it's always very pedantic)

[rajitzg]

Also, for the startSpinup and atSpeed lights signals, it might be better to do that in BoxopOI where the shooter is actually triggered. Sorry the code is a little unclear right now, but this only rotates the robot and waits for the shooter to be ready before shooting instead of actually spinning up and down the shooter.

[P-McG9]

Does it make a difference in how it works, or is it just to make more sense and be more organized? If it's not on getButtonPressed, wouldn't it just continually check no matter which class it's in? I can still move it to driverOI, but I think it would be the same?

[P-McG9]

wait it does make a difference for signalStartSpinup, but probably not for signalAtSpeed

[dejabot]

FYI, another way to do this (for future) would be:

• create a Procedure called SignalShooterAtSpeed or similar, that has a waitFor that waits for the shooter to be close to the expected speed, and once there, has the light signal that the shooter is at speed
• context.startAsync(SignalShooterAtSpeed) when we start spinning up the shooter, eg BoxOpOI.java:~line181.
• stash the LaunchedContext returned by above, and in the BoxOpOI loop check if non-null each iteration of handleOI.
  • somewhere in the loop, if non-null, null it out when isDone
  • around line 185, if non-null call stop() and null it out when the boxop stops the shooter

that way, we tie the lights directly to the boxop starting up the shooter.

[rajitzg]

Looks better, but I think you forgot to re-add the lightsStartupShooter in boxopOI. It would be better to have all of the logic in there but not critical for now (although specifically for the signalShotComplete I think where you have right now in driverOI is better). Also, remember to run spotlessApply again.

[P-McG9]

I did put it into BoxOpOI, it's line 180.