From 855dac7122d6db812a23620c62a38fe062a57760 Mon Sep 17 00:00:00 2001
From: DanTheMan-byte <danibarrf@gmail.com>
Date: Sun, 7 Jun 2026 23:48:26 -0500
Subject: [PATCH] teleop tweaks

---
 .../ftc/teamcode/teleop/TeleopV4.java         | 31 ++++++++++++++-----
 .../utilsv2/SpindexerTransferIntake.java      |  2 --
 2 files changed, 23 insertions(+), 10 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
index 2f4756a..9cb6d9c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
@@ -34,6 +34,8 @@ public class TeleopV4 extends LinearOpMode {
     public static Pose teleStart = new Pose(0,0,0);
 
     private boolean firstTickFull = true;
+    private boolean intakeFull = true;
+    private boolean shooting = false;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -102,6 +104,7 @@ public class TeleopV4 extends LinearOpMode {
 
         if (isStopRequested()) return;
 
+        int emptyTicks = 0;
         while (opModeIsActive()) {
             //Drivetrain
             drivetrain.drive(
@@ -141,18 +144,18 @@ public class TeleopV4 extends LinearOpMode {
             if (gamepad1.triangleWasPressed()){
                 VelocityCommander.lockFront = true;
                 VelocityCommander.lockBack = false;
-                TELE.addData("Front?:", VelocityCommander.lockFront);
-                TELE.addData("Back?:", VelocityCommander.lockBack);
+                TELE.addData("Front?:", true);
+                TELE.addData("Back?:", false);
             } else if (gamepad1.squareWasPressed()){
                 VelocityCommander.lockBack = true;
                 VelocityCommander.lockFront = false;
-                TELE.addData("Front?:", VelocityCommander.lockFront);
-                TELE.addData("Back?:", VelocityCommander.lockBack);
+                TELE.addData("Front?:", false);
+                TELE.addData("Back?:", true);
             } else if (gamepad1.circleWasPressed()){
                 VelocityCommander.lockBack = false;
                 VelocityCommander.lockFront = false;
-                TELE.addData("Front?:", VelocityCommander.lockFront);
-                TELE.addData("Back?:", VelocityCommander.lockBack);
+                TELE.addData("Front?:", false);
+                TELE.addData("Back?:", true);
             }
 
             shooter.update(robot.voltage.getVoltage());
@@ -169,11 +172,23 @@ public class TeleopV4 extends LinearOpMode {
                             state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
 
                 spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
-                SpindexerTransferIntake.intakeFull = false;
+                intakeFull = false;
+                firstTickFull = true;
+                shooting = true;
+            }
+
+            if (state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT){
+                shooting = false;
+            }
+
+            if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed() && !shooting){
+                intakeFull = true;
+            } else {
+                intakeFull = false;
                 firstTickFull = true;
             }
 
-            if (SpindexerTransferIntake.intakeFull && firstTickFull){
+            if (intakeFull && firstTickFull){
                 gamepad1.rumble(100);
                 firstTickFull = false;
             }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
index c5667e3..c0cd3da 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java
@@ -274,7 +274,6 @@ public class SpindexerTransferIntake {
     private int greenTicks = 0;
     private int ballTicks = 0;
     private int holdBallsTicker = 0;
-    public static boolean intakeFull = true;
     public void update() {
 
 //        TELE.addData("Sorted State", sortedIntakeStates);
@@ -376,7 +375,6 @@ public class SpindexerTransferIntake {
                             robot.setTransferPower(0);
                             robot.setIntakePower(0.1);
                             robot.setTransferServoPos(ServoPositions.transferServo_in);
-                            intakeFull = true;
 
                         } else {
                             holdBallsTicker++;