From fa9d628c9c7526ced46dfbb86c942d648d03601a Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Tue, 31 Mar 2026 19:22:24 -0400 Subject: [PATCH] toggle --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ed02393..3f79e09 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -68,7 +68,7 @@ public class RobotContainer { m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3)); m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2)); - m_driverController.rightBumper().whileTrue(intakeSubsystem.intake()); + m_driverController.rightBumper().onTrue(intakeSubsystem.intake()); m_driverController.y().onTrue(intakeSubsystem.deploy()); m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); } diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 97d1ee4..1b8ebde 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -63,7 +63,7 @@ public class IntakeSubsystem extends TestableSubsystem { public Command intake() { - return this.runEnd(() -> setSpeed(-.5), () -> { intakeMotor.stopMotor();}); + return this.runOnce(() -> {if(intakeMotor.get()!=0){setSpeed(-.5);}else{intakeMotor.stopMotor();}}); } public Command reverseIntake()