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(); }