Ensure lift is at STOW befoe starting intake

ExamWeHaltLitMaTowel · ExamWeHaltLitMaTowel · commit 5a0bc8a92219 · 2025-03-29T11:04:21.000-05:00
diff --git a/src/main/java/frc/robot/HeadHoncho.java b/src/main/java/frc/robot/HeadHoncho.java
@@ -120,7 +120,7 @@ public void initialize() {
 
       @Override
       public void execute() {
-        if (LIFT_SUBSYSTEM.isLiftReady()) {
+        if (LIFT_SUBSYSTEM.isAtState(TargetLiftStates.STOW) && LIFT_SUBSYSTEM.isLiftReady()) {
           INTAKE_SUBSYSTEM.startIntake();
           END_EFFECTOR_SUBSYSTEM.requestIntake();
         }

Original file line number	Diff line number	Diff line change
`@@ -120,7 +120,7 @@ public void initialize() {`
`120`	`120`
`121`	`121`	`@Override`
`122`	`122`	`public void execute() {`
`123`		`- if (LIFT_SUBSYSTEM.isLiftReady()) {`
	`123`	`+ if (LIFT_SUBSYSTEM.isAtState(TargetLiftStates.STOW) && LIFT_SUBSYSTEM.isLiftReady()) {`
`124`	`124`	`INTAKE_SUBSYSTEM.startIntake();`
`125`	`125`	`END_EFFECTOR_SUBSYSTEM.requestIntake();`
`126`	`126`	`}`