From 8c28beb75b011c50093bb8afca026d210fe3694f Mon Sep 17 00:00:00 2001
From: JJTech0130 <jjtech@jjtech.dev>
Date: Fri, 9 Feb 2024 17:53:29 -0500
Subject: [PATCH] R: Minor fixes

---
 .../ftc/teamcode/drive/RoboticaBot.java       |  2 +-
 .../ftc/teamcode/hardware/AxonServo.java      | 32 +++++++++++--------
 2 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/RoboticaBot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/RoboticaBot.java
index 9489980d..740f5d34 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/RoboticaBot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/RoboticaBot.java
@@ -65,7 +65,7 @@ public static double getMotorVelocityF(double ticksPerSecond) {
     public static double X_MULTIPLIER = 1;
     public static double Y_MULTIPLIER = 1;
     public static double FORWARD_OFFSET = -3.0;
-    public static double LATERAL_DISTANCE = 16;
+    public static double LATERAL_DISTANCE = 16.083;
     public static double DW_GEAR_RATIO = 1;
     public static double DW_WHEEL_RADIUS = 0.944882;
     public static double DW_TICKS_PER_REV = 2000;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AxonServo.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AxonServo.java
index bfa3f26e..1604cd1d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AxonServo.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/AxonServo.java
@@ -18,21 +18,25 @@ private class ServoCounter extends Thread {
         private int count = 0;
 
         public void run() {
-            android.util.Log.w("AXON_THREAD", "Starting thread");
-            double lastPosition = getCurrentPosition();
-            while (!GlobalOpMode.opMode.isStopRequested()) {
-                //android.util.Log.w("AXON_THREAD", "LOOP");
-                Thread.yield();
-                double currentPosition = getCurrentPosition();
-                // Positive wrap-around from 0 -> 360
-                if (currentPosition > 180 && lastPosition < 180 && innerServo.getPower() > 0) {
-                    count--;
+            try {
+                android.util.Log.w("AXON_THREAD", "Starting thread");
+                double lastPosition = getCurrentPosition();
+                while (!GlobalOpMode.opMode.isStopRequested()) {
+                    //android.util.Log.w("AXON_THREAD", "LOOP");
+                    Thread.yield();
+                    double currentPosition = getCurrentPosition();
+                    // Positive wrap-around from 0 -> 360
+                    if (currentPosition > 180 && lastPosition < 180 && innerServo.getPower() > 0) {
+                        count--;
+                    }
+                    // Negative wrap-around from 360 -> 0
+                    if (currentPosition < 180 && lastPosition > 180 && innerServo.getPower() < 0) {
+                        count++;
+                    }
+                    lastPosition = currentPosition;
                 }
-                // Negative wrap-around from 360 -> 0
-                if (currentPosition < 180 && lastPosition > 180 && innerServo.getPower() < 0) {
-                    count++;
-                }
-                lastPosition = currentPosition;
+            } catch (Exception e) {
+                android.util.Log.e("AXON_THREAD", "Crashed with error: " + e);
             }
         }