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Prevent color sensor calls when not needed. #95

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Prevent color sensor calls when not needed. #95

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10 changes: 5 additions & 5 deletions src/main/java/frc/robot/subsystems/ColorSensorSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -126,12 +126,11 @@ public RawColor getRawColor() {
return colorSensor.getRawColor();
}

public boolean isDetected() {
return bDetectedCargo;
}
// public boolean isDetected() {
// return bDetectedCargo;
// }

@Override
public void periodic() {
public boolean isDetected() {

//proximity sensor range: 1cm to 10cm

Expand Down Expand Up @@ -168,5 +167,6 @@ else if(blue > BLUE_THRESHOLD && proximity > BLUE_PROXIMITY_THRESHOLD)
detectBlue.setBoolean(isBlue);

bDetectedCargo = isRed || isBlue;
return bDetectedCargo;
}
}