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Prevent premature launches: disable continuous indexing on intake and tune beam-break pulse #11

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Prevent premature launches: disable continuous indexing on intake and tune beam-break pulse #11

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aebc64f
Set intake trigger index power to zero to avoid premature launch
mechaniaccc Feb 5, 2026
ece33ab
Merge branch 'main' into codex/modify-indexer-rotation-logic-nshje5
mechaniaccc Feb 5, 2026
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2 changes: 1 addition & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CommandTeleOp.java
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ public void initialize() {


leftTrigger.whileActiveContinuous(
new IntakeCommand(feeder, () -> beamBreak.isBeamBreakOn(), Constants.Feeder.DEFAULT_INTAKE_POWER, 0.6)
new IntakeCommand(feeder, () -> beamBreak.isBeamBreakOn(), Constants.Feeder.DEFAULT_INTAKE_POWER, 0)
);
leftBumper.whileActiveContinuous(
new IntakeCommand(feeder, () -> false, -Constants.Feeder.DEFAULT_INTAKE_POWER, -Constants.Feeder.DEFAULT_INDEX_POWER)
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7 changes: 4 additions & 3 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Commands/IntakeCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,8 @@ public class IntakeCommand extends CommandBase {
private BooleanSupplier breamBreak;
private double intakePower, indexPower;
private static final long INDEX_FEED_PULSE_MS = 180L;
private static final double INDEX_FEED_PULSE_POWER = 0.6;
private static final double INDEX_FEED_PULSE_POWER_INTAKE = 0.35;
private static final double INDEX_FEED_PULSE_POWER_ACTIVE = 0.6;

private boolean beamBlockedLatched;
private long indexFeedUntilNanos;
Expand Down Expand Up @@ -66,11 +67,11 @@ public void execute() {

private double getIndexPulsePower() {
if (Math.abs(indexPower) < 1e-6) {
return INDEX_FEED_PULSE_POWER;
return INDEX_FEED_PULSE_POWER_INTAKE;
}

return Math.copySign(
Math.min(Math.abs(indexPower), INDEX_FEED_PULSE_POWER),
Math.min(Math.abs(indexPower), INDEX_FEED_PULSE_POWER_ACTIVE),
indexPower
);
}
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