Auto intake unless something else happens

lasarobotics · Feb 8, 2025 · 8189333 · 8189333
1 parent 166cac2
commit 8189333
Showing 1 changed file with 2 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/HeadHoncho.java b/src/main/java/frc/robot/HeadHoncho.java
@@ -27,21 +27,14 @@ public void initialize() {
                 INTAKE_SUBSYSTEM.idle();
             }
 
-            @Override
-            public void execute() {
-                if (DRIVE_SUBSYSTEM.isNearSource()) {
-                    INTAKE_SUBSYSTEM.intake();
-                } else {
-                    INTAKE_SUBSYSTEM.idle();
-                }
-            }
-
             @Override
             public SystemState nextState() {
                 if (intake_button.getAsBoolean() && END_EFFECTOR_SUBSYSTEM.isEmpty() && LIFT_SUBSYSTEM.isAtState(TargetLiftStates.STOW)) {
                     return INTAKE;
                 }
 
+                if (END_EFFECTOR_SUBSYSTEM.isEmpty()) return INTAKE;
+
                 if (regurgitate_button.getAsBoolean() && LIFT_SUBSYSTEM.isAtState(TargetLiftStates.STOW)) {
                     return REGURGITATE;
                 }