public void update() { RobotSide sideToCalibrateNow = doZeroFingerCalibrationNow.getValue(); if (sideToCalibrateNow != null) { performZeroCalibrationNow(sideToCalibrateNow); startFingerCalibration.set(false); isCalibratingFingers.set(false); fingerCalibrationStartTime.setToNaN(); doZeroFingerCalibrationNow.set(null); } performCalibrationUsingFingerJointEncoders(); }