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if (!feeder.isCellAtShooter()) { |
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intake.slow(); |
The above code only waits until there is no longer a powercell at the shooter before putting the next powercell into the feeder. However, the powercell at the shooter will be shot very quickly and the rest of the powercells might not have moved forward sufficiently for the 5th power cell to enter without jamming. I recommend keeping track of whether there is space in the feeder for the next ball instead of whether a powercell is at the shooter. Note that this would also help in the case where we pickup 2 powercells in quick succession.
RobotCode2020/src/main/java/org/team199/robot2020/RobotContainer.java
Lines 114 to 115 in c610c2a
The above code only waits until there is no longer a powercell at the shooter before putting the next powercell into the feeder. However, the powercell at the shooter will be shot very quickly and the rest of the powercells might not have moved forward sufficiently for the 5th power cell to enter without jamming. I recommend keeping track of whether there is space in the feeder for the next ball instead of whether a powercell is at the shooter. Note that this would also help in the case where we pickup 2 powercells in quick succession.