undid the rumble debugging code

robototes · Mar 19, 2024 · 6a30f2f · 6a30f2f
1 parent 2c47282
commit 6a30f2f
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/src/main/java/frc/team2412/robot/Controls.java b/src/main/java/frc/team2412/robot/Controls.java
@@ -8,6 +8,7 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -122,7 +123,7 @@ private void bindDrivebaseControls() {
 	private void bindIntakeControls() {
 		// CommandScheduler.getInstance()
 		// 		.setDefaultCommand(s.intakeSubsystem, new IntakeStopCommand(s.intakeSubsystem));
-		driveIntakeInButton.onTrue(new RumbleCommand(this));
+		driveIntakeInButton.onTrue(new AllInCommand(s.intakeSubsystem, this));
 		driveIntakeStopButton.onTrue(new AllStopCommand(s.intakeSubsystem));
 
 		driveIntakeReverseButton.onTrue(new AllReverseCommand(s.intakeSubsystem));
@@ -177,10 +178,9 @@ private void bindLauncherControls() {
 	}
 
 	public void vibrateDriveController(double vibration) {
-		// if (!DriverStation.isAutonomous()) {
-
-		// }
-		driveController.getHID().setRumble(RumbleType.kBothRumble, vibration);
-		codriveController.getHID().setRumble(RumbleType.kBothRumble, vibration);
+		if (!DriverStation.isAutonomous()) {
+			driveController.getHID().setRumble(RumbleType.kBothRumble, vibration);
+			codriveController.getHID().setRumble(RumbleType.kBothRumble, vibration);
+		}
 	}
 }
diff --git a/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java
@@ -161,6 +161,8 @@ public IntakeSubsystem() {
 		intakeLeftSensor = intakeMotorLeft.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
 		intakeRightSensor = intakeMotorRight.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
 
+
+	//todo: MOVE THIS TO CONFIGURE MOTOR
 		intakeFrontSensor.enableLimitSwitch(false);
 		intakeLeftSensor.enableLimitSwitch(false);
 		intakeRightSensor.enableLimitSwitch(false);