more intake controls

Iron-Panthers · Jan 31, 2024 · baf9435 · baf9435
1 parent d697617
commit baf9435
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -176,6 +176,8 @@ private void configureButtonBindings() {
     anthony.leftStick().onTrue(new HaltDriveCommandsCommand(drivebaseSubsystem));
 
     anthony.b().onTrue(new IntakeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE));
+    anthony.a().onTrue(new IntakeCommand(intakeSubsystem, IntakeSubsystem.Modes.IDLE));
+    anthony.x().onTrue(new IntakeCommand(intakeSubsystem, IntakeSubsystem.Modes.OUTTAKE));
 
     DoubleSupplier rotation =
         exponential(

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -62,13 +62,15 @@ public IntakeSubsystem() {
     noteSensor = new DigitalInput(Constants.Intake.INTAKE_SENSOR_PORT);
 
     if (Config.SHOW_SHUFFLEBOARD_DEBUG_DATA) {
-      tab.addDouble("intake power", () -> intakeMotor.getMotorVoltage().getValueAsDouble());
-      tab.addBoolean("Note Sensor Output", this::getNoteSensorBool);
+      tab.addDouble("intake voltage", () -> intakeMotor.getMotorVoltage().getValueAsDouble());
+      tab.addDouble(
+          "Serializer motor voltage", () -> serializerMotor.getMotorVoltage().getValueAsDouble());
+      tab.addBoolean("Note Sensor Output", this::getNoteSensorOutput);
       tab.addString("Current Mode", () -> intakeMode.toString());
     }
   }
 
-  public boolean getNoteSensorBool() {
+  public boolean getNoteSensorOutput() {
     return noteSensor.get();
   }