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Indexer rewrite #32

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Indexer rewrite #32

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2b299a9
updated indexer
amichaelyu Dec 29, 2022
e5da400
fix conflicts
amichaelyu Dec 29, 2022
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ public final class Constants {
public static final double INDEXER_HUMAN_LOADING_WAIT = 1;

public static final double INDEXER_SHOOTER_REJECTION_TIME = 0.5;
public static final double INDEXER_INTAKE_REJECTION_TIME = 1;
public static final double INDEXER_INTAKE_REJECTION_TIME = 0.5;

public static final I2C.Port INDEXER_COLOR = I2C.Port.kMXP;
public static final int INDEXER_COLOR_PROXIMITY = 200;
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -61,8 +61,8 @@ private void driverDashboardSetup() {
SmartDashboard.putBoolean("Intake Extended", intake.isExtended());
SmartDashboard.putBoolean("Able to Shoot", indexer.ableToShoot());
SmartDashboard.putBoolean("Is Empty", indexer.isEmpty());
SmartDashboard.putBoolean("1 Ball", indexer.getBallCount() == 1);
SmartDashboard.putBoolean("Fully Loaded", indexer.fullyLoaded());
SmartDashboard.putBoolean("1 Ball", indexer.isOneBall());
SmartDashboard.putBoolean("Fully Loaded", indexer.isFull());
SmartDashboard.putBoolean("Snapped", RobotState.getInstance().isSnapped());
SmartDashboard.putBoolean("Climber Enabled", RobotState.getInstance().isClimbing());
}
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3 changes: 1 addition & 2 deletions src/main/java/frc/robot/commands/IntakeReverse.java
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@@ -1,7 +1,6 @@
package frc.robot.commands;

import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.indexer.Indexer;
import frc.robot.subsystems.intake.Intake;


Expand All @@ -24,7 +23,7 @@ public void execute() {

@Override
public boolean isFinished() {
return !Indexer.getInstance().getRejecting();
return true;
}

@Override
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