sdfghl

src/main/java/frc4388/robot/commands/StoragePrepIntake.java

@@ -15,6 +15,7 @@ import frc4388.robot.subsystems.Storage;
 public class StoragePrepIntake extends CommandBase {
   public Intake m_intake;
   public Storage m_storage;
+  public double startTime;
 
   /**
    * Creates a new StoragePrepIntake.
@@ -29,12 +30,13 @@ public class StoragePrepIntake extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    startTime = System.currentTimeMillis();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (m_storage.getBeam(1) == false){
+    if (!m_storage.getBeam(0) && System.currentTimeMillis() < startTime + 3000){ //If the bottom beam is broken, or 3 seconds have passed
       m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
     }
     else{
@@ -50,7 +52,7 @@ public class StoragePrepIntake extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (m_storage.getBeam(1)){
+    if (m_storage.getBeam(0)){
       return true;
     }
     return false;