fix: made feeder sequence have the intake running, and made the intak…

…e not run while feeder speeds up for shooting

src/main/java/org/team1540/robot2024/commands/indexer/OuttakeCommand.java

@@ -0,0 +1,30 @@
+package org.team1540.robot2024.commands.indexer;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import org.team1540.robot2024.subsystems.indexer.Indexer;
+
+public class OuttakeCommand extends Command {
+
+    private final Indexer indexer;
+
+    public OuttakeCommand(Indexer indexer) {
+        this.indexer = indexer;
+        addRequirements(indexer);
+    }
+
+    @Override
+    public void initialize() {
+        indexer.setIntakePercent(-0.5);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return !indexer.isNoteStaged();
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        indexer.setIntakePercent(0);
+    }
+
+}

src/main/java/org/team1540/robot2024/commands/indexer/PrepareIndexerForShooter.java → src/main/java/org/team1540/robot2024/commands/indexer/PrepareFeederForShooter.java

@@ -3,24 +3,24 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import org.team1540.robot2024.subsystems.indexer.Indexer;
 
-public class PrepareIndexerForShooter extends Command {
+public class PrepareFeederForShooter extends Command {
 
     private final Indexer indexer;
 
-    public PrepareIndexerForShooter(Indexer indexer) {
+    public PrepareFeederForShooter(Indexer indexer) {
         this.indexer = indexer;
         addRequirements(indexer);
     }
 
     @Override
     public void initialize() {
         indexer.setFeederVelocity(1200);
-        indexer.setIntakePercent(-0.5);
+
     }
 
     @Override
     public boolean isFinished() {
-        return indexer.isFeederAtSetpoint() && !indexer.isNoteStaged();
+        return indexer.isFeederAtSetpoint();
     }
 
 }

src/main/java/org/team1540/robot2024/commands/indexer/StageTrampCommand.java

@@ -18,6 +18,7 @@ public StageTrampCommand(Tramp tramp, Indexer indexer) {
     public void initialize() {
         tramp.setPercent(0.5);
         indexer.setFeederVelocity(-600);
+        indexer.setIntakePercent(0.5);
     }
 
     @Override

src/main/java/org/team1540/robot2024/commands/shooter/ShootSequence.java

@@ -2,16 +2,18 @@
 
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import org.team1540.robot2024.commands.indexer.PrepareIndexerForShooter;
+import org.team1540.robot2024.commands.indexer.OuttakeCommand;
+import org.team1540.robot2024.commands.indexer.PrepareFeederForShooter;
 import org.team1540.robot2024.subsystems.indexer.Indexer;
 import org.team1540.robot2024.subsystems.shooter.Shooter;
 
 public class ShootSequence extends SequentialCommandGroup {
     public ShootSequence(Shooter shooter, Indexer indexer) {
         addCommands(
                 Commands.parallel(
-                        new PrepareIndexerForShooter(indexer),
-                        new PrepareShooterCommand(shooter)
+                        new PrepareFeederForShooter(indexer),
+                        new PrepareShooterCommand(shooter),
+                        new OuttakeCommand(indexer)
                 ),
                 Commands.runOnce(() -> indexer.setIntakePercent(1), indexer)
                 // TODO: Add a wait for having completed the shot (steady then current spike/velocity dip and then back down?)

src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java

@@ -58,7 +58,7 @@ public boolean isFeederAtSetpoint() {
     }
 
     public void stopFeeder() {
-        io.setFeederVoltage(0); // shouldn't stopFeeder probably set its velocity?
+        io.setFeederVoltage(0);
     }
     public void stopIntake() {
         io.setIntakeVoltage(0);