Describe the bug
Using SensorDistanceEx.atTarget() never returns true even when object is in the right range
To Reproduce
dist1 = new SensorRevTOFDistance(hardwareMap, "Distance1");
double targetDist = 100.0;
int thresh = 5;
DistanceTarget target1 = new DistanceTarget(DistanceUnit.MM, targetDist, thresh);
dist1.addTarget(target1);
double dist = dist1.getDistance(DistanceUnit.MM);
telemetry.addData("Lib At Target", target1.atTarget(dist));
No matter where the object is placed the value never becomes true
Expected behavior
When an object is in the expected range it should return true
Additional context
Changing
public boolean atTarget(double currentDistance) {
currentDistance = unit.fromUnit(unit, currentDistance);
double clippedRange = Range.clip(currentDistance, target - threshold, target + threshold);
if (clippedRange >= currentDistance + threshold)
return false;
else return !(clippedRange <= currentDistance + threshold);
}to
public boolean atTarget(double currentDistance) {
currentDistance = unit.fromUnit(unit, currentDistance);
double clippedRange = Range.clip(currentDistance, currentDistance - threshold, currentDistance + threshold);
if (currentDistance > clippedRange)
return false;
else return !(currentDistance < clippedRange);
}Fixes the logic by ensuring that there is a range where it will return true but also doesn't result in threshold being doubled.
Describe the bug
Using
SensorDistanceEx.atTarget()never returns true even when object is in the right rangeTo Reproduce
No matter where the object is placed the value never becomes true
Expected behavior
When an object is in the expected range it should return true
Additional context
Changing
to
Fixes the logic by ensuring that there is a range where it will return
truebut also doesn't result in threshold being doubled.