Added Amp Logic

Team3128 · Oct 8, 2024 · 6cbd105 · 6cbd105
1 parent 60a4bcc
commit 6cbd105
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/src/main/java/frc/team3128/commands/CmdManager.java b/src/main/java/frc/team3128/commands/CmdManager.java
@@ -168,10 +168,9 @@ public static Command ampFinAndDown(){
         return sequence(
             amper.fullExtend(),
             waitUntil(() -> amper.atSetpoint()),
-            shooter.runKickMotor(1),
-            waitSeconds(1),
+            shooter.setShooting(true),
+            waitUntil(() -> !shooter.getShooting()),
             amper.stopRollers(),
-            shooter.stopMotors(),
             amper.retract()
         );
     }