From 394a9319f767fb6a29df80862e7070081fffa4e4 Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Wed, 25 Sep 2024 01:52:25 -0700 Subject: [PATCH] Updated ftclib. Debugged LimelightVision. --- TeamCode/src/main/java/ftclib | 2 +- TeamCode/src/main/java/teamcode/FtcTest.java | 9 ++++++--- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib index 0bce031..13cf5e1 160000 --- a/TeamCode/src/main/java/ftclib +++ b/TeamCode/src/main/java/ftclib @@ -1 +1 @@ -Subproject commit 0bce031baf81ec4c4afd7a4c8522b70fbccbe4be +Subproject commit 13cf5e10685f9215c335a239d783cb0ac822acd0 diff --git a/TeamCode/src/main/java/teamcode/FtcTest.java b/TeamCode/src/main/java/teamcode/FtcTest.java index 9c3201a..d7ff408 100644 --- a/TeamCode/src/main/java/teamcode/FtcTest.java +++ b/TeamCode/src/main/java/teamcode/FtcTest.java @@ -223,7 +223,10 @@ public class FtcTest extends FtcTeleOp case VISION_TEST: if (robot.vision != null) { - exposure = robot.vision.vision.getCurrentExposure(); + if (robot.vision.vision != null) + { + exposure = robot.vision.vision.getCurrentExposure(); + } // Vision generally will impact performance, so we only enable it if it's needed. if (robot.vision.aprilTagVision != null) { @@ -603,7 +606,7 @@ public class FtcTest extends FtcTeleOp break; case LeftBumper: - if (testChoices.test == Test.VISION_TEST && robot.vision != null) + if (testChoices.test == Test.VISION_TEST && robot.vision != null && robot.vision.vision != null) { if (pressed) { @@ -615,7 +618,7 @@ public class FtcTest extends FtcTeleOp break; case RightBumper: - if (testChoices.test == Test.VISION_TEST && robot.vision != null) + if (testChoices.test == Test.VISION_TEST && robot.vision != null && robot.vision.vision != null) { if (pressed) {