made feeder commands request zero voltage after ending

Signed-off-by: a1cd <[email protected]>
DurhamAcademy · Mar 27, 2024 · 2ba1cc6 · 2ba1cc6
1 parent 7c0c524
commit 2ba1cc6
Showing 1 changed file with 10 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/commands/FeederCommands.java b/src/main/java/frc/robot/commands/FeederCommands.java
@@ -2,6 +2,7 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
 import frc.robot.subsystems.feeder.Feeder;
 
 import static edu.wpi.first.wpilibj2.command.Commands.*;
@@ -27,15 +28,15 @@ public static Command feedToShooter(Feeder feeder) {
                         .onlyIf(feeder::getBeamBroken)
                         .until(() -> !feeder.getBeamBroken()),
                 run(() -> feeder.runVolts(12), feeder)
-                        .withTimeout(0.5)
+                        .withTimeout(0.5),
+                runOnce(() -> feeder.runVolts(0.0))
         );
     }
 
     public static Command flushFeeder(Feeder feeder) {
-        return new RunCommand(
-                () -> {
-                    feeder.runVolts(-4);
-                },
+        return startEnd(
+                () -> feeder.runVolts(-4),
+                () -> feeder.runVolts(0.0),
                 feeder);
     }
 
@@ -72,9 +73,10 @@ private static Command zeroToBeamBreak(Feeder feeder) {
     }
 
     public static Command humanPlayerIntake(Feeder feeder) {
-        return run(() -> {
-            feeder.runVolts(-2.0);
-        });
+        return startEnd(
+                () -> feeder.runVolts(-2.0),
+                ()-> feeder.runVolts(0)
+        );
     }
 
 //    public static Command feedToBeamBreak(Feeder feeder) {