Rumble to Intake

src/main/java/frc/team2412/robot/Controls.java

@@ -11,17 +11,14 @@
 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.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.team2412.robot.commands.intake.AllInCommand;
+import frc.team2412.robot.commands.intake.AllInRumbleCommand;
 import frc.team2412.robot.commands.intake.AllReverseCommand;
 import frc.team2412.robot.commands.intake.AllStopCommand;
 import frc.team2412.robot.commands.intake.FeederInCommand;
 import frc.team2412.robot.commands.intake.IntakeRejectCommand;
-import frc.team2412.robot.commands.intake.StopRumbleCommand;
 import frc.team2412.robot.commands.launcher.SetAngleAmpLaunchCommand;
 import frc.team2412.robot.commands.launcher.SetAngleCommand;
 import frc.team2412.robot.commands.launcher.SetAngleLaunchCommand;
@@ -124,15 +121,11 @@ private void bindDrivebaseControls() {
 	private void bindIntakeControls() {
 		// CommandScheduler.getInstance()
 		// 		.setDefaultCommand(s.intakeSubsystem, new IntakeStopCommand(s.intakeSubsystem));
-		driveIntakeInButton.onTrue(
-				Commands.sequence(
-						new AllInCommand(s.intakeSubsystem, this),
-						new WaitCommand(0.5),
-						new StopRumbleCommand(this)));
+		driveIntakeInButton.onTrue(new AllInRumbleCommand(s.intakeSubsystem, this));
 		driveIntakeStopButton.onTrue(new AllStopCommand(s.intakeSubsystem));
 		driveIntakeReverseButton.onTrue(new AllReverseCommand(s.intakeSubsystem));
 		driveIntakeRejectButton.onTrue(new IntakeRejectCommand(s.intakeSubsystem));
-		codriveIntakeInButton.onTrue(new AllInCommand(s.intakeSubsystem, this));
+		codriveIntakeInButton.onTrue(new AllInRumbleCommand(s.intakeSubsystem, this));
 		codriveIntakeStopButton.onTrue(new AllStopCommand(s.intakeSubsystem));
 		codriveIntakeReverseButton.onTrue(new AllReverseCommand(s.intakeSubsystem));
 		codriveIntakeRejectButton.onTrue(new IntakeRejectCommand(s.intakeSubsystem));

src/main/java/frc/team2412/robot/commands/intake/AllInRumbleCommand.java

@@ -0,0 +1,23 @@
+package frc.team2412.robot.commands.intake;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.team2412.robot.Controls;
+import frc.team2412.robot.subsystems.IntakeSubsystem;
+
+public class AllInRumbleCommand extends SequentialCommandGroup {
+	private final IntakeSubsystem intakeSubsystem;
+	private final Controls controls;
+
+	public AllInRumbleCommand(IntakeSubsystem intakeSubsystem, Controls controls) {
+		this.intakeSubsystem = intakeSubsystem;
+		this.controls = controls;
+		addRequirements(intakeSubsystem);
+
+		addCommands(new AllInCommand(intakeSubsystem, controls), new WaitCommand(0.5));
+	}
+
+	public void end() {
+		controls.vibrateDriveController(0.0);
+	}
+}

src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java

@@ -127,6 +127,7 @@ public class IntakeSubsystem extends SubsystemBase {
 					.getEntry();
 
 	public IntakeSubsystem() {
+
 		intakeMotorFront = new CANSparkMax(INTAKE_MOTOR_FRONT, MotorType.kBrushless);
 		intakeMotorBack = new CANSparkMax(INTAKE_MOTOR_BACK, MotorType.kBrushless);
 		intakeMotorLeft = new CANSparkMax(INTAKE_MOTOR_LEFT, MotorType.kBrushless);