void updateSensors()
{
if (lim1 || lim2)
{
NetworkTables.Instance.GetNumber(smartDashTable + "shortSensorValueL", out shortLeftY);
NetworkTables.Instance.GetNumber(smartDashTable + "shortSensorValueR", out shortRightY);
NetworkTables.Instance.GetNumber(smartDashTable + "longSensorValueL", out longLeftY);
NetworkTables.Instance.GetNumber(smartDashTable + "longSensorValueR", out longRightY);
shortLeftDist = shortLeftY - 7.5;
shortRightDist = shortRightY - 6;
longLeftDist = longLeftY - 19.5;
longRightDist = longRightY - 19.5;
if (shortLeftY < 0 && shortRightY < 0)
{
sensor = SENSORS.Short;
}
else if (longLeftY < 145 && longRightY < 145)
{
sensor = SENSORS.Long;
}
else if (shortLeftY < 35)
{
sensor = SENSORS.SoloL;
displacement = shortLeftDist / 100;
}
else if (shortRightY < 35)
{
sensor = SENSORS.SoloR;
displacement = shortRightDist / 100;
}
else if (longLeftY < 145)
{
sensor = SENSORS.SoloL;
displacement = longLeftDist / 100;
}
else if (longRightY < 145)
{
sensor = SENSORS.SoloR;
displacement = longRightDist / 100;
}
else
{
sensor = SENSORS.OutOfRange;
}
updateTote();
}
}
void updateLimSwitches()
{
//Debug.Log ("Updated");
NetworkTables.Instance.GetBool(smartDashTable + "toteLimitL", out lim1);
NetworkTables.Instance.GetBool(smartDashTable + "toteLimitR", out lim2);
//If both pressed
if (!lim1 && !lim2)
{
sensor = SENSORS.Lim;
}
updateTote();
}
