public boolean isDetensioned() {
double curr_volts = sensor.getAverageVoltage();
boolean on_target =
((curr_volts > (slack_tension_volts - threshold_volts))
&& (curr_volts < (slack_tension_volts + threshold_volts)));
boolean at_min = leftMin.get();
return (on_target || at_min);
}
protected void usePIDOutput(double output) {
//
// Important: invert the motor polarity!
// (Positive Motor Voltage -> Lower Tension)
//
output = -output;
//
// Only allow the arms to move in a direction away from a limit switch
// if that limit switch is closed, unless the motor command is 0.0
// (so the motor controller can be disabled)
//
if ((output > 0.0 && !leftMin.get()) || (output < 0.0 && !leftMax.get()) || (output == 0.0))
this.leftSC.set(output);
else this.leftSC.set(0);
}