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sjcbulldog
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Feb 16, 2024
| // If arm target isn't in no-go-zone | ||
| // and the arm target and arm actual aren't on opposite sides | ||
| // then they can be run in paralell | ||
| if(((armTarget < armNoGoZoneLower || armTarget > armNoGoZoneUpper) && (!(armTarget > armNoGoZoneUpper && subsystem.getArm().getPosition() < armNoGoZoneLower) || !(armTarget < armNoGoZoneLower && subsystem.getArm().getPosition() > armNoGoZoneUpper)))){ |
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The armTarget cannot be in the no go zone, so the first part of this conditional will always be true and can be removed.
Also, I believe the conditions (ignoring the first part) is ...
if !crossesMaxToMin || !crossesMinToMax which is probably not what you want.
given the actions, you probably want this to be && because you want to go directly to the targets if you are not crossing.
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Why not? if the elevator target is always above the threshold when we move the arm to the no-go-zone, we can have the arm be wherever we want.
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That was to the first q, the second q, you are right.
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