brought back new auto-intake binding

grt192 · Apr 6, 2024 · d07bafa · d07bafa
1 parent 00757b9
commit d07bafa
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -293,12 +293,12 @@ private void configureBindings() {
         //      ).andThen(new InstantCommand(() -> lightBarSubsystem.setLightBarStatus(LightBarStatus.DORMANT, 1)))
         // );
 
-
-
-        /* Note align -- deprecated, new version in the works*/
+        /* Note align -- Auto-intakes the nearest visible note, leaving left power control to the driver. */
         driveController.getNoteAlign().onTrue(
-            new NoteAlignCommand(swerveSubsystem, noteDetector, driveController)
-                .unless(() -> noteDetector.getNote().isEmpty())
+            new AutoIntakeSequence(intakeRollerSubsystem, intakePivotSubsystem,
+                                   swerveSubsystem, noteDetector,
+                                   driveController, lightBarSubsystem)                  
+            .onlyWhile(driveController.getNoteAlign())
         );
 
         /* Swerve Stop -- Pressing the button completely stops the robot's motion. */