Strengthen algae hold (#123)

* double voltage setpoint for holding algae

* restore missing event binding

* increase hold voltage to match competition experience

* continue to hold algae after releasing intake button

Author: nlaverdure

src/main/java/frc/robot/Robot.java

@@ -254,7 +254,7 @@ private void configureDriverButtonBindings() {
     // Outtake grippers
     driver.HIn()
         .whileTrue(coralRoller.createOuttakeCommand()
-            .alongWith(algaeRoller.createOuttakeCommand()));
+        .alongWith(algaeRoller.createOuttakeCommand()));
 
   }
 
@@ -307,9 +307,11 @@ public boolean getAsBoolean() {
     operator.rightTrigger().whileTrue(new ConditionalCommand(
         elevator.algaeFloorIntakeCG(), elevator.coralIntakeCG(), algaeMode));
 
-    // Intake either coral or algae
-    operator.rightBumper().whileTrue(new ConditionalCommand(
-        algaeRoller.createIntakeCommand(), coralRoller.createIntakeCommand(), algaeMode));
+    // Intake coral and algae
+    operator.rightBumper()
+        .whileTrue(algaeRoller.createIntakeCommand()
+        .alongWith(coralRoller.createIntakeCommand())
+        .andThen(new ConditionalCommand(algaeRoller.createHoldAlgaeCommand(), algaeRoller.createStopCommand(), algaeRoller.hasAlgae)));
 
     // Force joystick operation of the elevator
     Trigger elevatorTriggerHigh = operator.axisGreaterThan(Axis.kLeftY.value, 0.9, loop).debounce(0.1);
@@ -332,6 +334,7 @@ public boolean getAsBoolean() {
   }
 
   private void configureEventBindings() {
+    algaeRoller.hasAlgae.whileTrue(algaeRoller.createHoldAlgaeCommand());
     coralRoller.isRolling.whileTrue(createRollerAnimationCommand());
   }
   // spotless:on

src/main/java/frc/robot/elevator/ElevatorConstants.java

@@ -183,7 +183,8 @@ public static final class AlgaeRollerConstants {
     public static final double kVelocityConversionFactor = kPositionConversionFactor / 60.0;
 
     public static final Voltage kIntakeVoltage = Volts.of(5.0);
-    public static final Voltage kHoldVoltage = Volts.of(1.0);
+    // Found 3/9/2025 that 5V applied at stall will draw ~5A, which is acceptable for motor lifetime
+    public static final Voltage kHoldVoltage = Volts.of(5.0);
     public static final Voltage kOuttakeVoltage = kIntakeVoltage.unaryMinus();
   }