Changes to SmartIntake, need to be confirmed and pushed to master

FRC830 · Feb 19, 2024 · aa20728 · aa20728
1 parent e4fa02d
commit aa20728
Showing 1 changed file with 15 additions and 46 deletions.
diff --git a/src/main/cpp/subsystems/SmartIntake.cpp b/src/main/cpp/subsystems/SmartIntake.cpp
@@ -59,43 +59,28 @@ void SmartIntake::HandleInput(RobotControlData& input){
  }
  }
  break;
- case 2:
- {
- input.intakeInput.runIntakeIn = true;
- if (input.smartIntakeInput.laser){
- input.intakeInput.runIntakeIn = false;
- input.intakeInput.goToPseudoStowPos = true;
- ++m_IntakeState;
- }
-
- }
- break;
- case 3:
- {
- input.intakeInput.goToPseudoStowPos = false;
- if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW)
- {
- ++m_IntakeState;
- }
- }
- break;
+
  default:
+ m_SmartIntakeFlag = false;
  break;
  }
  }
  else
  {
  switch (m_IntakeState)
  {
- case 0:
+ case 2:
  {
- /* code */
+ input.intakeInput.runIntakeIn = true;
+ if (input.smartIntakeInput.laser){
  input.intakeInput.runIntakeIn = false;
  input.intakeInput.goToPseudoStowPos = true;
  ++m_IntakeState;
+ }
+
  }
  break;
- case 1:
+ case 3:
  {
  input.intakeInput.goToPseudoStowPos = false;
  if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW)
@@ -130,27 +115,8 @@ void SmartIntake::HandleInput(RobotControlData& input){
  }
  }
  break;
- case 2:
- {
- input.intakeInput.runIntakeOut = true;
- if (input.smartIntakeInput.laser){
- input.intakeInput.runIntakeOut = false;
- input.intakeInput.goToPseudoStowPos = true;
- ++m_OutTakeState;
- }
-
- }
- break;
- case 3:
- {
- input.intakeInput.goToPseudoStowPos = false;
- if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW)
- {
- ++m_OutTakeState;
- }
- }
- break;
  default:
+ m_SmartOutTakeFlag = false;
  break; 
  }
  }
@@ -159,15 +125,18 @@ void SmartIntake::HandleInput(RobotControlData& input){
 
  switch (m_OutTakeState)
  {
- case 0:
+ case 2:
  {
- /* code */
+ input.intakeInput.runIntakeOut = true;
+ if (input.smartIntakeInput.laser){
  input.intakeInput.runIntakeOut = false;
  input.intakeInput.goToPseudoStowPos = true;
  ++m_OutTakeState;
+ }
+
  }
  break;
- case 1:
+ case 3:
  {
  input.intakeInput.goToPseudoStowPos = false;
  if (input.intakeOutput.intakePos == IntakePos::PSEUDO_STOW)