From 04328ead68ede5f9d551765c31883f184cab2120 Mon Sep 17 00:00:00 2001
From: Xiaohan <xiaohan@dieterich.org>
Date: Tue, 30 Jan 2024 18:10:24 -0600
Subject: [PATCH 1/2] added distance sensor how we want it

---
 src/main/java/frc/robot/commands/IndexCommand.java    |  6 ++++--
 .../java/frc/robot/subsystems/IndexerSubsystem.java   | 11 ++++++++---
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/commands/IndexCommand.java b/src/main/java/frc/robot/commands/IndexCommand.java
index 36a21d12..dd9a33b1 100644
--- 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
index 639e76fc..0b117b23 100644
--- 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() {

From 7990ad9c47ca1d394297ae9bdc22965a3b53f83e Mon Sep 17 00:00:00 2001
From: Rowan Flood <121908273+rflood07@users.noreply.github.com>
Date: Tue, 30 Jan 2024 19:29:43 -0600
Subject: [PATCH 2/2] Update IndexCommand.java

---
 src/main/java/frc/robot/commands/IndexCommand.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/IndexCommand.java b/src/main/java/frc/robot/commands/IndexCommand.java
index dd9a33b1..922be48c 100644
--- a/src/main/java/frc/robot/commands/IndexCommand.java
+++ b/src/main/java/frc/robot/commands/IndexCommand.java
@@ -46,7 +46,7 @@ public void execute() {
       shooter.turnOff();
     } else {
       intake.intakeOff();
-      if(shootButtonSupplier.getAsBoolean()) {
+      if(!shootButtonSupplier.getAsBoolean()) {
         m_Indexer.off();
       }
       shooter.shootThing(1);