commit 5d1b75e621e1db4bb562a5a382ebd7500362dc65
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Feb 25 14:37:00 2024 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Feb 26 22:18:35 2024 -0800
tree 54bc79d459b472f242ac1001d017097c2b61bcb5
parent 2e818b26580facc994b0bc97167e362013aab9b2

Fix some field debugging webpage issues

Change-Id: I24e033954d33917133f96cf2562a2e7431458b76
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/www/field.html

diff --git a/y2024/www/field.html b/y2024/www/field.html
index 8bdcf71..2013cee 100644
--- a/y2024/www/field.html
+++ b/y2024/www/field.html
@@ -44,6 +44,10 @@
       <td id="superstructure_state"> NA </td>
     </tr>
     <tr>
+      <td>Catapult State</td>
+      <td id="catapult_state"> NA </td>
+    </tr>
+    <tr>
       <td>Intake Roller State</td>
       <td id="intake_roller_state"> NA </td>
     </tr>
@@ -169,7 +173,7 @@
       <td>Shot Distance</td>
       <td id="shot_distance"> NA </td>
     </tr>
-  </table> 
+  </table>
 
   <h3>Zeroing Faults:</h3>
   <p id="zeroing_faults"> NA </p>

y2024/www/field_handler.ts

diff --git a/y2024/www/field_handler.ts b/y2024/www/field_handler.ts
index fe13fcb..775eb1e 100644
--- a/y2024/www/field_handler.ts
+++ b/y2024/www/field_handler.ts
@@ -276,10 +276,25 @@
       this.catapultState.innerHTML =
         CatapultState[this.superstructureStatus.shooter().catapultState()];
 
-      this.turret_position.innerHTML = this.superstructureStatus.shooter().aimer().turretPosition().toString();
-      this.turret_velocity.innerHTML = this.superstructureStatus.shooter().aimer().turretVelocity().toString();
-      this.target_distance.innerHTML = this.superstructureStatus.shooter().aimer().targetDistance().toString();
-      this.shot_distance.innerHTML = this.superstructureStatus.shooter().aimer().shotDistance().toString();
+      if (this.superstructureStatus.shooter() &&
+          this.superstructureStatus.shooter().aimer()) {
+        this.turret_position.innerHTML = this.superstructureStatus.shooter()
+                                             .aimer()
+                                             .turretPosition()
+                                             .toString();
+        this.turret_velocity.innerHTML = this.superstructureStatus.shooter()
+                                             .aimer()
+                                             .turretVelocity()
+                                             .toString();
+        this.target_distance.innerHTML = this.superstructureStatus.shooter()
+                                             .aimer()
+                                             .targetDistance()
+                                             .toString();
+        this.shot_distance.innerHTML = this.superstructureStatus.shooter()
+                                           .aimer()
+                                           .shotDistance()
+                                           .toString();
+      }
 
       if (!this.superstructureStatus.intakePivot() ||
           !this.superstructureStatus.intakePivot().zeroed()) {
@@ -319,7 +334,7 @@
         this.setEstopped(this.extend);
       } else {
         this.setTargetValue(
-            this.climber,
+            this.extend,
             this.superstructureStatus.extend().unprofiledGoalPosition(),
             this.superstructureStatus.extend().estimatorState().position(),
             1e-3);