From 4430b9f0c856b2c4ffacb3d201fe8f78076a4230 Mon Sep 17 00:00:00 2001
From: Connor Peach <connorppeach@mailfence.com>
Date: Sat, 16 Mar 2024 12:07:28 -0600
Subject: [PATCH] add debounce

---
 .../robot/commands/Intake/ArmIntakeIn.java       | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
index 78c558b..64259e5 100644
--- a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
+++ b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
@@ -13,7 +13,6 @@ public class ArmIntakeIn extends Command {
   /** Creates a new ArmIntakeIn. */
   private Intake robotIntake;
   private Shooter robotShooter;
-
   public ArmIntakeIn(Intake robotIntake, Shooter robotShooter) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.robotIntake = robotIntake;
@@ -21,7 +20,6 @@ public class ArmIntakeIn extends Command {
 
     addRequirements(this.robotIntake, this.robotShooter);
   }
-
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {}
@@ -37,10 +35,22 @@ public class ArmIntakeIn extends Command {
   @Override
   public void end(boolean interrupted) {}
 
+  //debounce
+  private long time;
+  private boolean lastpressed = false;
+
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return robotIntake.getTalonIntakeLimitSwitchState();
+    if(!lastpressed) 
+	time = System.currentTimeMillis();
+      
+    if(lastpressed && time - System.currentTimeMillis() > 200)
+	return true;
+
+      
+    lastpressed = robotIntake.getTalonIntakeLimitSwitchState();
+    return false;
     // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
     // {
     //   return !true==true;