make measurment block

Author: LeanMeanBeanMachine4774

controllers/floor_intake.py

@@ -47,7 +47,7 @@ def intaking(self, initial_call: bool):
     def measuring(self, initial_call):
         if initial_call:
             self.algae_measurement.measure()
-        else:
+        elif not self.algae_measurement.is_executing:
             self.done()
 
     def done(self) -> None:

controllers/reef_intake.py

@@ -95,7 +95,10 @@ def safing(self, initial_call: bool):
             robot_pose.translation()
         )
 
-        if distance >= self.RETREAT_DISTANCE:
+        if (
+            distance >= self.RETREAT_DISTANCE
+            and not self.algae_measurement.is_executing
+        ):
             self.done()
 
     def done(self) -> None: