pull back logic on manual intake

hammerhead226 · Apr 11, 2024 · 1720c9e · 1720c9e
1 parent 83bf25f
commit 1720c9e
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -595,9 +595,9 @@ private void driverControls() {
             new InstantCommand(() -> shooter.setFeedersRPM(500))
                 .andThen(
                     new ConditionalCommand(
-                        new WaitCommand(0.15),
-                        new WaitCommand(0.05),
-                        () -> (shooter.seesNote() == NoteState.CURRENT)))
+                        new WaitCommand(0.24),
+                        new WaitCommand(0.06),
+                        () -> (shooter.getLastNoteState() == NoteState.CURRENT)))
                 .andThen(
                     new ParallelCommandGroup(
                             new InstantCommand(() -> intake.stopRollers(), intake),
@@ -637,7 +637,6 @@ private void driverControls() {
         .rightBumper()
         .onFalse(
             new InstantCommand(() -> shooter.setFeedersRPM(500))
-                .andThen(new WaitCommand(0.04))
                 .andThen(
                     new ConditionalCommand(
                         new WaitCommand(0.24),