Distance sensors #97
Distance sensors #97
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…y setting camera pivot position
TeamCode/src/main/java/com/kuriosityrobotics/firstforward/robot/modules/ModuleThread.java
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| if (module.isOn()) { | ||
| module.onClose(); | ||
| } | ||
| } | ||
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| commonPool().shutdown(); |
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Not sure if it does anything, but it's supposed to shut down our thread pool used for asynch sensors (we just use the common pool for now--probably a bad idea but it didn't cause any problems). was a fix for slow stop times (might be placebo but is good practise anyway)
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| robot.getTelemetryDump().update(); | ||
| moduleUpdateTimes = aTime; | ||
| updateDuration = SystemClock.elapsedRealtime() - overallStart; |
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why'd we remove update times :((
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the overall modulethread update time isn't super relevant anymore.
TeamCode/src/main/java/com/kuriosityrobotics/firstforward/robot/modules/ModuleThread.java
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| break; | ||
| } | ||
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| Double[] pose; |
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why can't we use primitive types
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it does some clown shit with null Doubles
TeamCode/src/main/java/com/kuriosityrobotics/firstforward/robot/sensors/Odometry.java
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| @@ -37,32 +35,43 @@ | |||
| theKalmanFilter = new ExtendedKalmanFilter(0, 0, 0); | |||
| } | |||
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| private final HashMap<String, AsynchSensor> sensors; | |||
| private final HashSet<AsynchProcess> sensors; | |||
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AsynchProcess used to contain the process name, but now asynchprocess wraps a module so it doesn't need it in a map
TeamCode/src/main/java/com/kuriosityrobotics/firstforward/robot/sensors/SensorThread.java
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TeamCode/src/main/java/com/kuriosityrobotics/firstforward/robot/util/Constants.java
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