From 6593c4cbafa60e2fd6cdf4d23a9d1a46cddece9f Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Wed, 31 Mar 2021 18:53:42 -0600
Subject: [PATCH] Sequential Intake

---
 src/main/java/frc4388/robot/RobotContainer.java      |  2 +-
 .../frc4388/robot/commands/auto/GalacticSearch.java  | 12 +++++++-----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index f1da19b..68b4da7 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -380,7 +380,7 @@ public class RobotContainer {
             "bRed",
             "bBlue"
         };
-        m_galacticSearch = new GalacticSearch(m_robotLime, buildPaths(galacticSearchPaths));
+        m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java
index 357fb20..9fc0b59 100644
--- a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java
+++ b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java
@@ -9,6 +9,8 @@ package frc4388.robot.commands.auto;
 
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.commands.intake.RunIntake;
+import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LimeLight;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
@@ -18,22 +20,22 @@ public class GalacticSearch extends SequentialCommandGroup {
   /**
    * Creates a new GalacticSearch.
    */
-  public GalacticSearch(LimeLight m_limeLight, RamseteCommand[] paths) {
+  public GalacticSearch(LimeLight m_limeLight, Intake m_intake, RamseteCommand[] paths) {
     if (m_limeLight.galacticSearchPath == "A_RED")
     {
-      addCommands(paths[0]);
+      addCommands(new SequentialCommandGroup(paths[0], new RunIntake(m_intake)));
     }
     else if (m_limeLight.galacticSearchPath == "A_BLUE")
     {
-      addCommands(paths[1]);
+      addCommands(new SequentialCommandGroup(paths[1], new RunIntake(m_intake)));
     }
     else if (m_limeLight.galacticSearchPath == "B_RED")
     {
-      addCommands(paths[2]);
+      addCommands(new SequentialCommandGroup(paths[2], new RunIntake(m_intake)));
     }
     else if (m_limeLight.galacticSearchPath == "B_BLUE")
     {
-      addCommands(paths[3]);
+      addCommands(new SequentialCommandGroup(paths[3], new RunIntake(m_intake)));
     }
   }
 }