From c876483a0ba6ae9ad5b527274c1ff4388e8a8c1f Mon Sep 17 00:00:00 2001
From: Niosocket11 <daniel.tolkachov@gmail.com>
Date: Fri, 20 Mar 2026 15:31:24 -0700
Subject: [PATCH 1/2] Fixed another issue

---
 .../ManipulatorCommands/SmartShoot.java       | 29 +++++++++++++++----
 1 file changed, 24 insertions(+), 5 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java b/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java
index 73a0927..f9af1db 100644
--- a/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java
+++ b/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java
@@ -10,6 +10,7 @@
 import org.carlmontrobotics.subsystems.Intake;
 import org.carlmontrobotics.subsystems.Outtake;
 
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 
@@ -20,6 +21,10 @@ public class SmartShoot extends Command {
   Outtake outtake;
   Intake intake;
   double goalRPM;
+  double oscillateTimeStampForward = -1;
+  double oscillateTimeStampBackward = -1;
+
+  private final boolean oscillate = true;
   /** Creates a new SmartShoot. */
   public SmartShoot(Outtake outtake, Intake intake, double RPM) {
     // Use addRequirements() here to declare subsystem dependencies.
@@ -27,22 +32,36 @@ public SmartShoot(Outtake outtake, Intake intake, double RPM) {
     this.outtake = outtake;
     this.intake = intake;
     addRequirements(outtake, intake);
-    SmartDashboard.putNumber("GoalRPMOuttake", goalRPM);
-
    }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    outtake.spinOuttake(SmartDashboard.getNumber("GoalRPMOuttake", goalRPM));
+    outtake.spinOuttake(goalRPM);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(outtake.atVelGoal(SmartDashboard.getNumber("GoalRPMOuttake", goalRPM), OUTTAKE_ESTIMATE_OFFSET)){
+    if(outtake.atVelGoal(goalRPM, OUTTAKE_ESTIMATE_OFFSET)){
       outtake.spinOuttakeFeeder(OUTTAKE_FEEDER_VOLT_PERC);
-      intake.spinConveyor(CONVEYOR_SPEED);
+      if (oscillate) {
+        if (oscillateTimeStampForward == -1) {
+        oscillateTimeStampForward = Timer.getFPGATimestamp();
+        intake.spinConveyor(CONVEYOR_SPEED);
+      }
+      else if (Timer.getFPGATimestamp() - oscillateTimeStampForward > 5) {
+        oscillateTimeStampBackward = Timer.getFPGATimestamp();
+        intake.spinConveyor(-0.2);
+      }
+      else if (Timer.getFPGATimestamp() - oscillateTimeStampBackward > 2) {
+        oscillateTimeStampForward = Timer.getFPGATimestamp();
+        intake.spinConveyor(CONVEYOR_SPEED);
+      } 
+      }
+      else {
+        intake.spinConveyor(CONVEYOR_SPEED);
+      } 
     }
   }
 

From 2c4777f9a778a708b6e73aa6a93c014787798554 Mon Sep 17 00:00:00 2001
From: Niosocket11 <daniel.tolkachov@gmail.com>
Date: Fri, 20 Mar 2026 21:55:09 -0700
Subject: [PATCH 2/2] fixed tims thingy that tim really wanted

---
 .../ManipulatorCommands/SmartShoot.java       | 25 +++++++++----------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java b/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java
index f9af1db..9a3a67e 100644
--- a/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java
+++ b/src/main/java/org/carlmontrobotics/commands/ManipulatorCommands/SmartShoot.java
@@ -18,11 +18,10 @@
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class SmartShoot extends Command {
 
-  Outtake outtake;
-  Intake intake;
-  double goalRPM;
-  double oscillateTimeStampForward = -1;
-  double oscillateTimeStampBackward = -1;
+  private final Outtake outtake;
+  private final Intake intake;
+  private final double goalRPM;
+  private final Timer timer;
 
   private final boolean oscillate = true;
   /** Creates a new SmartShoot. */
@@ -31,6 +30,7 @@ public SmartShoot(Outtake outtake, Intake intake, double RPM) {
     goalRPM = RPM;
     this.outtake = outtake;
     this.intake = intake;
+    timer = new Timer();
     addRequirements(outtake, intake);
    }
 
@@ -38,6 +38,8 @@ public SmartShoot(Outtake outtake, Intake intake, double RPM) {
   @Override
   public void initialize() {
     outtake.spinOuttake(goalRPM);
+    timer.restart();
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -46,16 +48,12 @@ public void execute() {
     if(outtake.atVelGoal(goalRPM, OUTTAKE_ESTIMATE_OFFSET)){
       outtake.spinOuttakeFeeder(OUTTAKE_FEEDER_VOLT_PERC);
       if (oscillate) {
-        if (oscillateTimeStampForward == -1) {
-        oscillateTimeStampForward = Timer.getFPGATimestamp();
-        intake.spinConveyor(CONVEYOR_SPEED);
-      }
-      else if (Timer.getFPGATimestamp() - oscillateTimeStampForward > 5) {
-        oscillateTimeStampBackward = Timer.getFPGATimestamp();
+        if (timer.get() > 5) {
+        timer.restart();
         intake.spinConveyor(-0.2);
       }
-      else if (Timer.getFPGATimestamp() - oscillateTimeStampBackward > 2) {
-        oscillateTimeStampForward = Timer.getFPGATimestamp();
+      else if (timer.get() > 0.5) {
+        timer.restart();
         intake.spinConveyor(CONVEYOR_SPEED);
       } 
       }
@@ -71,6 +69,7 @@ public void end(boolean interrupted) {
     outtake.stopOuttake();  
     outtake.spinOuttakeFeeder(0);
     intake.stopConveyor();
+    timer.stop();
   }
 
   // Returns true when the command should end.