Pulse hopper roller during shooting

src/main/java/competition/command_groups/RunCollectorHopperFeederCommandGroup.java

@@ -14,7 +14,7 @@ public RunCollectorHopperFeederCommandGroup(HopperRollerSubsystem hopper,
                                             CollectorIntakeCommand collectorIntakeCommand,
                                             ShooterFeederFire shooterFeederFireCommand
     ) {
-        var hopperIntakeCommand = hopper.getIntakeCommand();
+        var hopperIntakeCommand = hopper.getIntakePulseCommand();
         this.addCommands(
                 hopperIntakeCommand.alongWith(collectorIntakeCommand).alongWith(shooterFeederFireCommand)
         );

src/main/java/competition/operator_interface/OperatorCommandMap.java

@@ -161,7 +161,7 @@ public void setupDebugGamepad(OperatorInterface operatorInterface,
         operatorInterface.setupDebugGamepad.getifAvailable(XXboxController.XboxButton.LeftStick)
                 .whileTrue(hopperRollerSubsystem.getEjectCommand());
         operatorInterface.setupDebugGamepad.getifAvailable(XXboxController.XboxButton.RightStick)
-                .whileTrue(hopperRollerSubsystem.getIntakeCommand());
+                .whileTrue(hopperRollerSubsystem.getIntakePulseCommand());
         operatorInterface.setupDebugGamepad.getPovIfAvailable(90).whileTrue(collectorEjectCommand);
         operatorInterface.setupDebugGamepad.getPovIfAvailable(270).whileTrue(shooterFeederFire);
     }

src/main/java/competition/subsystems/hopper_roller/HopperRollerSubsystem.java

@@ -1,7 +1,9 @@
 package competition.subsystems.hopper_roller;
 
 import competition.electrical_contract.ElectricalContract;
+import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import xbot.common.command.BaseSubsystem;
 import xbot.common.command.NamedRunCommand;
 import xbot.common.controls.actuators.XCANMotorController;
@@ -26,10 +28,13 @@ public class HopperRollerSubsystem extends BaseSubsystem {
     final DoubleProperty collectPower;
     final DoubleProperty intakePower;
     final AngularVelocityProperty intakeVelocity;
+    final AngularVelocityProperty intakePulseVelocity;
     final AngularVelocityProperty collectVelocity;
     final AngularVelocityProperty ejectVelocity;
     final BooleanProperty useVelocityControl;
     final DoubleProperty voltageRampTime;
+    final DoubleProperty intakePulseDuration;
+    final DoubleProperty intakePulseHighDuration;
 
     @Inject
     public HopperRollerSubsystem(ElectricalContract electricalContract,
@@ -67,8 +72,11 @@ public HopperRollerSubsystem(ElectricalContract electricalContract,
 
         useVelocityControl = pf.createPersistentProperty("Use Velocity Control", true);
         intakeVelocity = pf.createPersistentProperty("Intake Velocity", RPM.of(3000));
+        intakePulseVelocity = pf.createPersistentProperty("Intake Pulse Velocity", RPM.of(3200));
         collectVelocity = pf.createPersistentProperty("Collect Velocity", RPM.of(3000));
         ejectVelocity = pf.createPersistentProperty("Eject Velocity", RPM.of(-3000));
+        intakePulseDuration = pf.createPersistentProperty("Intake Pulse Duration Seconds", 0.5);
+        intakePulseHighDuration = pf.createPersistentProperty("Intake Pulse High Duration Seconds", 0.5);
 
         if (hopperRollerMotor != null) {
             hopperRollerMotor.setClosedLoopRampRates(
@@ -78,6 +86,13 @@ public HopperRollerSubsystem(ElectricalContract electricalContract,
         }
     }
 
+    public void setVelocityTarget(AngularVelocity velocity) {
+        if (hopperRollerMotor == null) {
+            return;
+        }
+        hopperRollerMotor.setVelocityTarget(velocity);
+    }
+
     public void setEjectPower() {
         if (hopperRollerMotor == null) {
             return;
@@ -149,4 +164,18 @@ public Command getStopCommand() {
     }
 
     public Command getCollectCommand() {return new NamedRunCommand(getName() + "-collect", this::setCollectPower, this);}
+
+    public Command getIntakePulseCommand() {
+        var commandGroup = new SequentialCommandGroup();
+        commandGroup.setName(getName() + "-intake-pulse");
+        commandGroup.addCommands(
+                new NamedRunCommand(
+                        getName() + "-intake-pulse-low",
+                        () -> setVelocityTarget(intakeVelocity.get()), this).withTimeout(intakePulseDuration.get()));
+        commandGroup.addCommands(
+                new NamedRunCommand(
+                        getName() + "-intake-pulse-high",
+                        () -> setVelocityTarget(intakePulseVelocity.get()), this).withTimeout(intakePulseHighDuration.get()));
+        return commandGroup.repeatedly();
+    }
 }