From 5f0e776a327befb7995628659a7194e5aa69d03c Mon Sep 17 00:00:00 2001
From: Jack Lingle <captainjack0818@gmail.com>
Date: Wed, 13 Mar 2024 09:10:41 -0400
Subject: [PATCH] update logic

---
 .../frc/robot/subsystems/intake/IntakeSubsystem.java     | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
index 9acaae1f..372427da 100644
--- 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);
     }