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FRC3636 · Dec 16, 2023 · f25da23 · f25da23
2 parents 1b4accb + 287a44c
commit f25da23
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.kt b/src/main/java/frc/robot/RobotContainer.kt
@@ -109,10 +109,17 @@ object RobotContainer {
 
         Trigger { controller.leftTriggerAxis >= 0.5 }
             .onTrue(
-                Indexer.setSpeedCommand(-1.0)
+                SequentialCommandGroup(
+                    Indexer.setSpeedCommand(-1.0),
+                    BallIntake.runRollersCommand(-1.0),
+                )
             )
             .onFalse(
-                Indexer.setSpeedCommand(0.0)
+                SequentialCommandGroup(
+                    Indexer.setSpeedCommand(0.0),
+                    BallIntake.runRollersCommand(0.0),
+                    SetIntakePosition(BallIntake.Position.Up.pose, BallIntake),
+                )
             )
 
         JoystickButton(controller, XboxController.Button.kLeftBumper.value)