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Messing with Turret and storage

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Not completly sure why the shooting actions arent happening in the right order
This commit is contained in:
ryan123rudder
2020-02-28 20:05:56 -07:00
parent 7c83d87085
commit b45f66b023
15 changed files with 85 additions and 35 deletions
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src/main/java/frc4388/robot/commands/StoragePrepIntake.java
+3 -2
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@@ -36,7 +36,8 @@ public class StoragePrepIntake extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (!m_storage.getBeam(0) && System.currentTimeMillis() < startTime + 3000){ //If the bottom beam is broken, or 3 seconds have passed
System.err.println(m_storage.getBeam(0));
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{
@@ -52,7 +53,7 @@ public class StoragePrepIntake extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (m_storage.getBeam(0)){
if (!m_storage.getBeam(0)){
return true;
}
return false;