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Minor fixes to mvmt code, remove test from CLI

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Blizzard Finnegan 2023-03-08 15:33:01 -05:00
parent f22d9f7b8d
commit df85060d87
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GPG key ID: DE547EDF547DDA49
2 changed files with 4 additions and 5 deletions
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4
src/main/java/org/baxter/disco/ocr/Cli.java
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@ -91,10 +91,6 @@ public class Cli
ErrorLogging.logError("The piston will fire momentarily when the motor calibration is complete.");
MovementFacade.pressButton();
ErrorLogging.logError("Testing config.");
MovementFacade.goDown();
MovementFacade.goUp();
do
{
printMainMenu();

5
src/main/java/org/baxter/disco/ocr/MovementFacade.java
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@ -556,6 +556,9 @@ public class MovementFacade
int medSpeedPolls = (int)(notHighSpeedPolls * SLOW_POLL_FACTOR);
int lowSpeedPolls = notHighSpeedPolls - medSpeedPolls;
medSpeedPolls *= SPEED_DOWN_FACTOR;
lowSpeedPolls *= 2 * SPEED_DOWN_FACTOR;
ErrorLogging.logError("DEBUG: =============================");
ErrorLogging.logError("DEBUG: Travel time: " + totalPollCount);
ErrorLogging.logError("DEBUG: High speed poll count: " + highSpeedPolls);
@ -598,7 +601,7 @@ public class MovementFacade
if(motorEnable.isOn())
{
output = FinalState.SAFE;
pwm.on(DUTY_CYCLE, (FREQUENCY / SPEED_DOWN_FACTOR));
pwm.on(DUTY_CYCLE, (FREQUENCY / (2 * SPEED_DOWN_FACTOR)));
for(int i = 0; i < lowSpeedPolls; i++)
{
try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }