indexer is off unless ground intake or source intake is on

2491-NoMythic · Feb 28, 2024 · eefbfb3 · eefbfb3
1 parent 935f6ba
commit eefbfb3
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Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -219,7 +219,7 @@ private void indexInit() {
     indexer = new IndexerSubsystem();
   }
   private void indexCommandInst() {
-    defaulNoteHandlingCommand = new IndexCommand(indexer, ShootIfReadySup, AimWhileMovingSup, shooter, intake, driveTrain, angleShooterSubsystem, HumanPlaySup, StageAngleSup, SubwooferAngleSup);
+    defaulNoteHandlingCommand = new IndexCommand(indexer, ShootIfReadySup, AimWhileMovingSup, shooter, intake, driveTrain, angleShooterSubsystem, HumanPlaySup, StageAngleSup, SubwooferAngleSup, GroundIntakeSup);
     indexer.setDefaultCommand(defaulNoteHandlingCommand);
   }
 

diff --git a/src/main/java/frc/robot/commands/IndexCommand.java b/src/main/java/frc/robot/commands/IndexCommand.java
@@ -14,6 +14,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.settings.Constants.Field;
 import frc.robot.settings.Constants.IndexerConstants;
+import frc.robot.settings.Constants.IntakeConstants;
 import frc.robot.settings.Constants.ShooterConstants;
 import frc.robot.subsystems.AngleShooterSubsystem;
 import frc.robot.subsystems.DrivetrainSubsystem;
@@ -28,6 +29,7 @@ public class IndexCommand extends Command {
   Boolean revUp;
   BooleanSupplier shootIfReadySupplier;
   DoubleSupplier ampSupplier;;
+  BooleanSupplier groundIntakeSup;
   Boolean shootIfReady;
   // DoubleSupplier POVSupplier;
   BooleanSupplier humanPlayerSupplier;
@@ -42,7 +44,7 @@ public class IndexCommand extends Command {
   double runsEmpty = 0;
 
   /** Creates a new IndexCommand. */
-  public IndexCommand(IndexerSubsystem m_IndexerSubsystem, BooleanSupplier shootIfReadySupplier, BooleanSupplier revUpSupplier, ShooterSubsystem shooter, IntakeSubsystem intake, DrivetrainSubsystem drivetrain, AngleShooterSubsystem angleShooterSubsystem, BooleanSupplier humanPlaySupplier, BooleanSupplier stageAngleSup, BooleanSupplier SubwooferSup) {
+  public IndexCommand(IndexerSubsystem m_IndexerSubsystem, BooleanSupplier shootIfReadySupplier, BooleanSupplier revUpSupplier, ShooterSubsystem shooter, IntakeSubsystem intake, DrivetrainSubsystem drivetrain, AngleShooterSubsystem angleShooterSubsystem, BooleanSupplier humanPlaySupplier, BooleanSupplier stageAngleSup, BooleanSupplier SubwooferSup, BooleanSupplier groundIntakeSup) {
     this.m_Indexer = m_IndexerSubsystem;
     this.shootIfReadySupplier = shootIfReadySupplier;//R2
     this.revUpSupplier = revUpSupplier;//L2
@@ -53,6 +55,7 @@ public IndexCommand(IndexerSubsystem m_IndexerSubsystem, BooleanSupplier shootIf
     this.humanPlayerSupplier = humanPlaySupplier;//R1
     this.subwooferAngleSup = SubwooferSup;
     this.stageAngleSup = stageAngleSup;
+    this.groundIntakeSup = groundIntakeSup;
     SmartDashboard.putNumber("amp RPS", AMP_RPS);
     SmartDashboard.putNumber("indexer amp speed", IndexerConstants.INDEXER_AMP_SPEED);
     SmartDashboard.putNumber("amp angle", Field.AMPLIFIER_ANGLE);
@@ -84,7 +87,12 @@ public void execute() {
           intake.intakeOff();
         }
         else {
-          m_Indexer.set(IndexerConstants.INDEXER_INTAKE_SPEED);
+          if(groundIntakeSup.getAsBoolean()) {
+            m_Indexer.set(IndexerConstants.INDEXER_INTAKE_SPEED);
+            intake.intakeYes(IntakeConstants.INTAKE_SPEED);
+          } else {
+            m_Indexer.off();
+          }
           shooter.turnOff();
         }
       }