fix(auto): make sure to stop rollers on shoot

FRC3636 · Sep 21, 2023 · f485ddd · f485ddd
1 parent b1aca8a
commit f485ddd
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/commands/autonomous/AutoShoot.java b/src/main/java/frc/robot/commands/autonomous/AutoShoot.java
@@ -44,6 +44,8 @@ public AutoShoot(Drivetrain drivetrain, boolean shouldShootInPlace) {
                                                 new InstantCommand(() -> {
                                                         RobotContainer.arm.setRollerState(Rollers.State.Outtake);
                                                 }),
+                                                new WaitCommand(0.25),
+                                                new InstantCommand(() -> RobotContainer.arm.setRollerState(Rollers.State.Off)),
                                                 new InstantCommand(() -> RobotContainer.arm.setTarget(Arm.State.Stowed))
                                         );
                                 } else {
@@ -55,6 +57,8 @@ public AutoShoot(Drivetrain drivetrain, boolean shouldShootInPlace) {
                                                 new InstantCommand(() -> {
                                                         RobotContainer.arm.setRollerState(Rollers.State.Outtake);
                                                 }),
+                                                new WaitCommand(0.25),
+                                                new InstantCommand(() -> RobotContainer.arm.setRollerState(Rollers.State.Off)),
                                                 new InstantCommand(() -> RobotContainer.arm.setTarget(Arm.State.Stowed))  
                                         );
                                 }