update logic

team401 · Mar 13, 2024 · 5f0e776 · 5f0e776
1 parent 6507839
commit 5f0e776
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -78,7 +78,7 @@ private void idle() {
                                 .getAsBoolean())) { // dont seek if note in uptake or shotoer deck
             state = State.SEEKING;
         } else if (action == IntakeAction.REVERSE
-                || inputs.noteSensed) { // reverse if note is found
+                || (inputs.noteSensed && noteInShooterDeck.getAsBoolean())) { // reverse if note is found
             state = State.REVERSING;
         } else if (action == IntakeAction.OVERRIDE) {
             state = State.OVERRIDE;
@@ -92,8 +92,11 @@ private void seeking() {
         if (action != IntakeAction.INTAKE) {
             state = State.IDLE;
         }
-
-        io.setIntakeVoltage(IntakeConstants.intakePower);
+        if(!inputs.noteSensed) { // run until note is in uptake
+            io.setIntakeVoltage(IntakeConstants.intakePower);
+        } else {
+            io.setIntakeVoltage(0);
+        }
         io.setBeltVoltage(IntakeConstants.beltPower);
     }