shuffleboard entry

src/main/java/frc/team5115/Robot.java

@@ -91,6 +91,7 @@ public void robotPeriodic() {
         // This must be called from the robot's periodic block in order for anything in
         // the Command-based framework to work.
         CommandScheduler.getInstance().run();
+        robotContainer.robotPeriodic();
     }
 
     /** This function is called once when the robot is disabled. */

src/main/java/frc/team5115/RobotContainer.java

@@ -4,6 +4,8 @@
 import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -62,6 +64,9 @@ public class RobotContainer {
     // Dashboard inputs
     private final LoggedDashboardChooser<Command> autoChooser;
 
+    // Shuffleboard
+    private final GenericEntry noteDetectedEntry;
+
     /** The container for the robot. Contains subsystems, OI devices, and commands. */
     public RobotContainer() {
         switch (Constants.currentMode) {
@@ -82,6 +87,8 @@ public RobotContainer() {
                                 new ModuleIOSparkMax(3));
                 // vision = new PhotonVision(drivetrain);
                 vision = null;
+                noteDetectedEntry =
+                        Shuffleboard.getTab("SmartDashboard").add("Has note?", false).getEntry();
                 break;
 
             case SIM:
@@ -96,6 +103,7 @@ public RobotContainer() {
                         new Drivetrain(
                                 gyro, new ModuleIOSim(), new ModuleIOSim(), new ModuleIOSim(), new ModuleIOSim());
                 vision = null;
+                noteDetectedEntry = null;
                 break;
 
             default:
@@ -110,6 +118,7 @@ public RobotContainer() {
                         new Drivetrain(
                                 gyro, new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {});
                 vision = null;
+                noteDetectedEntry = null;
                 break;
         }
 
@@ -187,6 +196,12 @@ private void configureButtonBindings() {
                 .onFalse(DriveCommands.triggerAmp(arm, amper, intake, feeder));
     }
 
+    public void robotPeriodic() {
+        if (noteDetectedEntry != null) {
+            noteDetectedEntry.setBoolean(feeder.noteDetected());
+        }
+    }
+
     /**
      * Registers commands for pathplanner to use in autos
      *

src/main/java/frc/team5115/commands/DriveCommands.java

@@ -75,7 +75,7 @@ public static Command feed(Intake intake, Feeder feeder) {
         return Commands.sequence(
                 feeder.setSpeeds(+1),
                 intake.setSpeed(+1),
-                Commands.waitSeconds(0.5),
+                Commands.waitSeconds(1),
                 feeder.stop(),
                 intake.stop());
     }

src/main/java/frc/team5115/subsystems/feeder/Feeder.java

@@ -53,4 +53,8 @@ public void forceStop() {
         io.setLeftPercent(0);
         io.setRightPercent(0);
     }
+
+    public boolean noteDetected() {
+        return inputs.noteDetected;
+    }
 }