just use beambrake to control the lower itensity rumble

Team488 · Apr 4, 2024 · 7447b9e · 7447b9e
1 parent a635fcd
commit 7447b9e
Showing 1 changed file with 2 additions and 11 deletions.
diff --git a/src/main/java/competition/subsystems/collector/commands/IntakeCollectorCommand.java b/src/main/java/competition/subsystems/collector/commands/IntakeCollectorCommand.java
@@ -3,7 +3,6 @@
 import competition.operator_interface.OperatorInterface;
 import competition.subsystems.collector.CollectorSubsystem;
 import xbot.common.command.BaseCommand;
-import xbot.common.command.BaseSetpointCommand;
 import xbot.common.properties.DoubleProperty;
 import xbot.common.properties.PropertyFactory;
 
@@ -15,7 +14,7 @@ public class IntakeCollectorCommand extends BaseCommand {
     final OperatorInterface oi;
     private final DoubleProperty higherIntensity;
     private final DoubleProperty lowerIntensity;
-    private boolean isToggledOnce = false;
+
     @Inject
     public IntakeCollectorCommand(CollectorSubsystem collector, OperatorInterface oi, PropertyFactory pf) {
         addRequirements(collector);
@@ -30,20 +29,16 @@ public IntakeCollectorCommand(CollectorSubsystem collector, OperatorInterface oi
     public void initialize() {
         collector.resetCollectionState();
         log.info("Initializing");
-        isToggledOnce = false;
     }
 
     @Override
     public void execute() {
         collector.intake();
-        if(collector.getGamePieceInControl()) {
-            isToggledOnce = true;
-        }
         if (collector.confidentlyHasControlOfNote()) {
             oi.operatorGamepadAdvanced.getRumbleManager().rumbleGamepad(higherIntensity.get(), 0.7);
             oi.operatorFundamentalsGamepad.getRumbleManager().rumbleGamepad(higherIntensity.get(), 0.7);
             oi.driverGamepad.getRumbleManager().rumbleGamepad(higherIntensity.get(), 0.7);
-        } else if (isToggledOnce) {
+        } else if (collector.getBeamBreakSensorActivated()) {
             oi.operatorGamepadAdvanced.getRumbleManager().rumbleGamepad(lowerIntensity.get(), 0.7);
             oi.operatorFundamentalsGamepad.getRumbleManager().rumbleGamepad(lowerIntensity.get(), 0.7);
             oi.driverGamepad.getRumbleManager().rumbleGamepad(lowerIntensity.get(), 0.7);
@@ -53,10 +48,6 @@ public void execute() {
     @Override
     public void end(boolean interrupted) {
         super.end(interrupted);
-        oi.operatorGamepadAdvanced.getRumbleManager().rumbleGamepad(0, 0.7);
-        oi.operatorFundamentalsGamepad.getRumbleManager().rumbleGamepad(0, 0.7);
-        oi.driverGamepad.getRumbleManager().rumbleGamepad(0, 0.7);
-
         collector.stop();
 
     }