auto working

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index dd147dc299a59822347b842491304e27c3d6e7b6..9248a782d9fca8b0fe5da8f5394bf997678d1141 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -215,8 +215,8 @@ public class RobotContainer {
         (chassisSpeeds) -> {
           if (!Constants.DISABLE_LOGGING) {
             Logger.recordOutput("Auto/ChassisSpeeds", chassisSpeeds);
-            drive.setChassisSpeeds(chassisSpeeds, false); // problem??
           }
+          drive.setChassisSpeeds(chassisSpeeds, false); // problem??
         },
         AutoConstants.AUTO_CONTROLLER,
         AutoConstants.CONFIG,

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 2e54cd1ecea2226e46926035f9b89edf10a4912e..bfbd44de738a5d826b1ffee6e77794c77ba1bdc6 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -193,9 +193,9 @@ public class Intake extends SubsystemBase implements IntakeIO{
         double inchExtension = getPosition();
         
         if (!Constants.DISABLE_LOGGING) {
-            Logger.recordOutput("Intake/Setpoint", setpointInches);
-            robotExtension.setLength(inchExtension);
+            Logger.recordOutput("Intake/Setpoint", setpointInches);     
         }
+        robotExtension.setLength(inchExtension);
         if (!Constants.DISABLE_SMART_DASHBOARD) {
             SmartDashboard.putNumber("Intake Extension (in)", inchExtension);
             SmartDashboard.putBoolean("Intake Extended", inchExtension > 1.0);