Awesome robot, as usual. One could spend hours studying it. Thanks again for your help in getting the rookie teams through Inspection at so many events.
We have 3 beam brake sensors for tracking pieces within the robot, one up in the shooter, and one in each side of the intake. When a note is seen within the shooter, by default the intake spins out to ensure that extra notes don’t get stuck, but the driver has the option to hit the intake button again which triggers the 2 note intake. When the second note is seen by an intake beam break sensor that stops the intake and triggers a 2 second countdown before the intake spins out ejecting the note before our control becomes greater than momentary.
