Stop intake rumble in auto

robototes · Feb 28, 2024 · 5be5392 · 5be5392
1 parent 96f9025
commit 5be5392
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/src/main/java/frc/team2412/robot/commands/intake/AllInCommand.java b/src/main/java/frc/team2412/robot/commands/intake/AllInCommand.java
@@ -33,7 +33,10 @@ public void end(boolean interrupted) {
 		intakeSubsystem.intakeReject();
 		intakeSubsystem.indexStop();
 		intakeSubsystem.feederStop();
-		controls.vibrateDriveController(1.0);
+
+		if (controls != null && interrupted == false) {
+			controls.vibrateDriveController(1.0);
+		}
 	}
 
 	@Override

diff --git a/src/main/java/frc/team2412/robot/util/AutoLogic.java b/src/main/java/frc/team2412/robot/util/AutoLogic.java
@@ -65,7 +65,7 @@ public void registerCommands() {
 						.andThen(new WaitCommand(1))
 						.andThen(new FeederInCommand(s.intakeSubsystem)));
 
-		NamedCommands.registerCommand("Intake", new AllInCommand(s.intakeSubsystem, controls));
+		NamedCommands.registerCommand("Intake", new AllInCommand(s.intakeSubsystem, null));
 		// Complex Autos
 		NamedCommands.registerCommand("AutoLogicTest", AutoPaths.testAuto);
 		NamedCommands.registerCommand(