fix autonnotealign

grt192 · Apr 3, 2024 · 0607221 · 0607221
1 parent e649c70
commit 0607221
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Showing 3 changed files with 9 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/commands/auton/AutonBuilder.java b/src/main/java/frc/robot/commands/auton/AutonBuilder.java
@@ -125,7 +125,7 @@ public Command goIntake(ChoreoTrajectory intakeTrajectory) {
                 new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem)
             ).withTimeout(1),
             new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem).until(
-                ()  -> intakeRollerSubsystem.getBackSensorReached()).withTimeout(2)
+                ()  -> intakeRollerSubsystem.getRockwellSensorValue()).withTimeout(2)
             // new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem)
             //     .alongWith(new DriveForwardCommand(swerveSubsystem).until(
             //         intakeRollerSubsystem::getFrontSensorValue).until(

diff --git a/src/main/java/frc/robot/commands/swerve/AutonNoteAlignCommand.java b/src/main/java/frc/robot/commands/swerve/AutonNoteAlignCommand.java
@@ -61,7 +61,7 @@ public void initialize() {
     @Override
     //stops when there is a note in the intake
     public boolean isFinished() {
-        return intakeRollerSubsystem.getFrontSensorReached();
+        return intakeRollerSubsystem.getAmpSensor();
     }
 
     @Override
@@ -87,6 +87,11 @@ after. If it remains out of frame, this issue should be rather evident (the robo
 
     @Override
     public void end(boolean interrupted) {
+        swerveSubsystem.setRobotRelativeDrivePowers(
+            0,
+            0,
+            0
+        );
         System.out.println("Ended NoteAlignCommand");
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeRollerSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeRollerSubsystem.java
@@ -139,5 +139,7 @@ public void periodic() {
         if (getFrontSensorValue()) {
             lightBarSubsystem.setLightBarStatus(LightBarStatus.HOLDING_NOTE, 2);
         }
+
+        System.out.println(getAmpSensor());
     }
 }