private Turret turret;
private Hood hood;
- private Debouncer jam_debouncer = new Debouncer(SpindexerConstants.JAM_DEBOUNCE_TIME, DebounceType.kRising); // if their is jam I would think this is 0 -> 1
- private Debouncer reversing_debouncer = new Debouncer(SpindexerConstants.REVERSE_DEBOUNCE_TIME, DebounceType.kFalling); // if there is a release in time Idk what it would be (kfalling vs krising)
+ private Debouncer jam_debouncer = new Debouncer(SpindexerConstants.JAM_DEBOUNCE_TIME, DebounceType.kRising); // if there is jam I would think this is 0 -> 1
private boolean reversing = false;
+ private boolean wasHoodForcedDown = false;
+
+ private Timer reverseTimer = new Timer();
public RunSpindexer(Spindexer spindexer, Turret turret, Hood hood) {
this.spindexer = spindexer;
this.turret = turret;