mr adams u better be happy

dekta · dekta · commit 56a96c0d1f52 · 2023-03-28T15:24:41.000-04:00
diff --git a/src/main/java/frc/team5115/Commands/Intake/Startup_Angle.java b/src/main/java/frc/team5115/Commands/Intake/Startup_Angle.java
@@ -39,7 +39,11 @@ public void end(boolean interrupted){
     public boolean isFinished() {
         if(timer.get()>0.1){
             if(Math.abs(hardwareIntake.getTurnVelocity())<1.5){
-            return true;
+            innerTimer.start();
+            if(innerTimer.get() > 0.3) return true;
+        }
+        else{
+            innerTimer.reset();
         }
     }
         /* 

Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,11 @@ public void end(boolean interrupted){`
`39`	`39`	`public boolean isFinished() {`
`40`	`40`	`if(timer.get()>0.1){`
`41`	`41`	`if(Math.abs(hardwareIntake.getTurnVelocity())<1.5){`
`42`		`- return true;`
	`42`	`+ innerTimer.start();`
	`43`	`+ if(innerTimer.get() > 0.3) return true;`
	`44`	`+ }`
	`45`	`+ else{`
	`46`	`+ innerTimer.reset();`
`43`	`47`	`}`
`44`	`48`	`}`
`45`	`49`	`/*`