add wait command to amp -> integration command bc apparently it never…

… worked
grt192 · Sep 19, 2024 · 4da4032 · 4da4032
1 parent 58a7ee9
commit 4da4032
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -586,8 +586,10 @@ private void configureBindings() {
             Commands.runOnce(() -> intakePivotSubsystem.setPosition(1), intakePivotSubsystem).alongWith(
                 new IntakeRollerAmpIntakeCommand(intakeRollerSubsystem)).andThen(
                     new ConditionalCommand(
-                        new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem).andThen(
-                            new InstantCommand(() -> intakePivotSubsystem.setPosition(0), intakePivotSubsystem)
+                        new WaitCommand(.3).andThen(
+                            new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem).andThen(
+                                new InstantCommand(() -> intakePivotSubsystem.setPosition(0), intakePivotSubsystem)
+                            )
                         ), 
 
                         new InstantCommand(