Merge remote-tracking branch 'origin/abstractingndparenting' into abs…

…tractingndparenting
svhsrobotics · Jan 20, 2024 · ddf1e0a · ddf1e0a
2 parents 1fd3013 + 30f6358
commit ddf1e0a
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AxonServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AxonServo.java
@@ -15,15 +15,16 @@ private class ServoCounter extends Thread {
         private int count = 0;
 
         public void run() {
+            android.util.Log.w("AXON_THREAD", "Starting thread");
             double lastPosition = getCurrentPosition();
             while (true) {
-                android.util.Log.w("AXON_THREAD", "LOOP");
+                //android.util.Log.w("AXON_THREAD", "LOOP");
                 double currentPosition = getCurrentPosition();
-                // Negative wrap-around from 360 -> 0
+                // Positive wrap-around from 0 -> 360
                 if (currentPosition > 180 && lastPosition < 180 && innerServo.getPower() > 0) {
                     count--;
                 }
-                // Positive wrap-around from 0 -> 360
+                // Negative wrap-around from 360 -> 0
                 if (currentPosition < 180 && lastPosition > 180 && innerServo.getPower() < 0) {
                     count++;
                 }