Add 0.5 buffer on stopping trap score button

StuyPulse · Apr 11, 2024 · 01301a3 · 01301a3
1 parent 431d5ab
commit 01301a3
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -50,6 +50,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -176,7 +177,10 @@ private void configureDriverBindings() {
         // score trap
         driver.getLeftButton()
             .onTrue(new AmperScoreTrap())
-            .whileTrue(new WaitUntilCommand(() -> !Amper.getInstance().hasNote())
+            // when 0.5 seconds have passed AND amper has no note, stop rollers
+            .whileTrue(new ParallelCommandGroup(
+                    new WaitCommand(0.5),
+                    new WaitUntilCommand(() -> !Amper.getInstance().hasNote()))
                 .andThen(new AmperStop()))
             .onFalse(new AmperStop());