Merge pull request #34 from 2491-NoMythic/Adding-Sensor

added distance sensor how we want it
2491-NoMythic · Jan 31, 2024 · eab61c9 · eab61c9
2 parents 4588f40 + 7990ad9
commit eab61c9
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Showing 2 changed files with 12 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/commands/IndexCommand.java b/src/main/java/frc/robot/commands/IndexCommand.java
@@ -40,13 +40,15 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (m_Indexer.getInchesFromSensor()>8) {
+    if (!m_Indexer.isNoteIn()) {
       intake.intakeYes(1);
       m_Indexer.on();
       shooter.turnOff();
     } else {
       intake.intakeOff();
-      m_Indexer.off();
+      if(!shootButtonSupplier.getAsBoolean()) {
+        m_Indexer.off();
+      }
       shooter.shootThing(1);
     }
     if (shootButtonSupplier.getAsBoolean()) {

diff --git a/src/main/java/frc/robot/subsystems/IndexerSubsystem.java b/src/main/java/frc/robot/subsystems/IndexerSubsystem.java
@@ -1,19 +1,24 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkAnalogSensor;
 import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.SparkAnalogSensor.Mode;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.settings.Constants.IndexerConstants;
 
 public class IndexerSubsystem extends SubsystemBase {
     CANSparkMax m_IndexerMotor;
+    SparkAnalogSensor m_DistanceSensor;
 
     public IndexerSubsystem() {
         m_IndexerMotor = new CANSparkMax(IndexerConstants.INDEXER_MOTOR, MotorType.kBrushless);
+        m_DistanceSensor = m_IndexerMotor.getAnalog(Mode.kAbsolute);
     }
-
-    public double getInchesFromSensor() {
-        return 0;
+    
+    public boolean isNoteIn() {
+        return m_DistanceSensor.getVoltage()>1;
     }
 
     public void on() {