Merge branch 'main' into heading-snapping

frc937 · Mar 21, 2024 · 2a13bd7 · 2a13bd7
2 parents 81f71f5 + 834f888
commit 2a13bd7
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diff --git a/src/main/java/frc/robot/commands/RunIntake.java b/src/main/java/frc/robot/commands/RunIntake.java
@@ -40,6 +40,9 @@ public void execute() {}
   @Override
   public void end(boolean interrupted) {
     intake.stop();
+    if (!interrupted) {
+      intake.reportNoteIsInIntake();
+    }
   }
 
   // Returns true when the command should end.

diff --git a/src/main/java/frc/robot/commands/RunIntakeReverse.java b/src/main/java/frc/robot/commands/RunIntakeReverse.java
@@ -40,6 +40,7 @@ public void execute() {}
   @Override
   public void end(boolean interrupted) {
     intake.stop();
+    intake.reportNoteIsNotInIntake();
   }
 
   // Returns true when the command should end.

diff --git a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
@@ -52,6 +52,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     intake.stop();
+    intake.reportNoteIsNotInIntake();
   }
 
   // Returns true when the command should end.

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -14,7 +14,9 @@
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkMax;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -24,6 +26,7 @@ public class Intake extends SubsystemBase {
   private CANSparkMax intakeLower;
   private CANSparkMax intakeUpper;
   private DigitalInput limitSwitch;
+  private GenericEntry noteIsInIntake;
 
   /** Creates a new Intake. */
   public Intake() {
@@ -47,6 +50,8 @@ public Intake() {
 
     intakeLower.burnFlash();
     intakeUpper.burnFlash();
+
+    Shuffleboard.getTab("Driver").add("Note in intake", false).getEntry();
   }
 
   /** Runs the intake motors. */
@@ -69,6 +74,16 @@ public boolean getLimitSwitch() {
     return !limitSwitch.get();
   }
 
+  /** Tells drivers the intake is full */
+  public void reportNoteIsInIntake() {
+    noteIsInIntake.setBoolean(true);
+  }
+
+  /** Tells drivers the intake is empty */
+  public void reportNoteIsNotInIntake() {
+    noteIsInIntake.setBoolean(false);
+  }
+
   /** Stops the intake motors. */
   public void stop() {
     intakeUpper.set(0);