fixed UpdateLiftPosition so it goes to HOLD_CUBE before going to GROUND

DriverStationComputer · DriverStationComputer · commit 69e9b365b5f6 · 2018-03-16T21:42:30.000-07:00
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/UpdateLiftPosition.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/UpdateLiftPosition.java
@@ -44,7 +44,7 @@ protected void execute() {
 			System.out.println("POV Reading: " + angle);
 
 			if (angle == 180) {
-				desiredPos = LiftHeight.GROUND;
+				desiredPos = LiftHeight.HOLD_CUBE;
 				goToGround = true;
 			} else if (angle == 270) {
 				desiredPos = LiftHeight.HOLD_CUBE;
@@ -65,6 +65,9 @@ protected void execute() {
 				lift.setSetpoint(desiredDist);
 				goToGround = false;
 			}
+			System.out.println("Desired Pos: " + desiredPos);
+			System.out.println("Desired Dist: " + desiredDist);
+			System.out.println("Current Dist: " + lift.getHeight());
 		}
 	}
 

Original file line number	Diff line number	Diff line change
`@@ -44,7 +44,7 @@ protected void execute() {`
`44`	`44`	`System.out.println("POV Reading: " + angle);`
`45`	`45`
`46`	`46`	`if (angle == 180) {`
`47`		`- desiredPos = LiftHeight.GROUND;`
	`47`	`+ desiredPos = LiftHeight.HOLD_CUBE;`
`48`	`48`	`goToGround = true;`
`49`	`49`	`} else if (angle == 270) {`
`50`	`50`	`desiredPos = LiftHeight.HOLD_CUBE;`
`@@ -65,6 +65,9 @@ protected void execute() {`
`65`	`65`	`lift.setSetpoint(desiredDist);`
`66`	`66`	`goToGround = false;`
`67`	`67`	`}`
	`68`	`+ System.out.println("Desired Pos: " + desiredPos);`
	`69`	`+ System.out.println("Desired Dist: " + desiredDist);`
	`70`	`+ System.out.println("Current Dist: " + lift.getHeight());`
`68`	`71`	`}`
`69`	`72`	`}`
`70`	`73`