added some logic to remove double calling rumble

Team334 · Jan 24, 2025 · f3a8336 · f3a8336
1 parent b13d671
commit f3a8336
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -119,7 +119,8 @@ public Robot(NetworkTableInstance ntInst) {
     configureDriverBindings();
     configureOperatorBindings();
 
-    new Trigger(_serializer::getBackBeam).onTrue(rumbleControllers(1, 1));
+    new Trigger(_serializer::getBackBeam).onTrue(rumbleControllers(1, 1).onlyIf(() -> Math.signum(_manipulator.getSpeed()) != 1));
+    new Trigger(_serializer::getBackBeam).onTrue(runOnce(() -> _currentPiece = Piece.NONE).onlyIf(() -> _currentPiece == Piece.CORAL));
     new Trigger(() -> getCurrentPiece() == Piece.NONE).onChange(rumbleControllers(1, 1));
 
     // a coral was passoff'ed