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Fix atTarget in SensorDistanceEx #237

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Merged
JIceberg merged 1 commit into from
Feb 22, 2023
+1 −4
Merged

Fix atTarget in SensorDistanceEx #237

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5 changes: 1 addition & 4 deletions core/src/main/java/com/arcrobotics/ftclib/hardware/SensorDistanceEx.java
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Original file line number Diff line number Diff line change
Expand Up @@ -74,10 +74,7 @@ public DistanceTarget(DistanceUnit unit, double target, double threshold, String
*/
public boolean atTarget(double currentDistance) {
currentDistance = unit.fromUnit(unit, currentDistance);
double clippedRange = Range.clip(currentDistance, currentDistance - threshold, currentDistance + threshold);
if (clippedRange >= currentDistance + threshold)
return false;
else return !(clippedRange <= currentDistance + threshold);
return (currentDistance >= target - threshold) && (currentDistance <= target + threshold);
}

/**
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