slow down toShooterSlow so that there is more time for the color sens…

…or to see the note and it just stops in place nice and nice for us (#248)
Patribots4738 · Mar 14, 2024 · caafe0f · caafe0f
2 parents 5379246 + 6a60a07
commit caafe0f
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Showing 3 changed files with 5 additions and 15 deletions.
diff --git a/src/main/java/frc/robot/commands/managers/PieceControl.java b/src/main/java/frc/robot/commands/managers/PieceControl.java
@@ -128,22 +128,19 @@ public Command intakeNote() {
             intake.inCommand(),
             trapper.intakeSlow(0.6),
             indexer.toShooterSlow(),
-            Commands.waitUntil(colorSensor.hasNoteTrigger()),
+            Commands.waitUntil(colorSensor::hasNote),
             setHasPiece(true),
-            NT.getWaitCommand("intakeToTrap1"), // 0.1
-            // Use the trap to index it the first time around
-            noteToTrap()
+            stopIntakeAndIndexer()
         );
     }
 
     public Command toIndexerAuto() {
         return Commands.sequence(
             intake.inCommand(),
             trapper.intake(),
-            indexer.stopCommand(),
-            Commands.waitUntil(colorSensor.hasNoteTrigger()),
+            indexer.toShooterSlow(),
+            Commands.waitUntil(colorSensor::hasNote),
             setHasPiece(true),
-            Commands.waitSeconds(0.15),
             stopIntakeAndIndexer()
         );
     }

diff --git a/src/main/java/frc/robot/subsystems/ColorSensor.java b/src/main/java/frc/robot/subsystems/ColorSensor.java
@@ -51,11 +51,4 @@ public void periodic() {
     public boolean hasNote() {
         return this.hasOrange;
     }
-
-    public Trigger hasNoteTrigger() {
-        if (hasNoteTrigger == null) {
-            hasNoteTrigger = new Trigger(this::hasNote);
-        }
-        return hasNoteTrigger;
-    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Indexer.java b/src/main/java/frc/robot/subsystems/Indexer.java
@@ -42,7 +42,7 @@ public Command toShooter() {
     }
 
     public Command toShooterSlow() {
-        return setPercentCommand(IntakeConstants.SHOOTER_TRIGGER_WHEEL_PERCENT/2.0);
+        return setPercentCommand(IntakeConstants.SHOOTER_TRIGGER_WHEEL_PERCENT/7.0);
     }
 
     public Command toElevator() {