@Override
protected void execute() {
if (beam.ballPresent() && power < 0 && !isShooting) {
collect.setPower(0);
} else {
collect.setPower(power);
}
}
public SetCollectorPower(double power, boolean isShooting) {
collect = CollectorSubsystem.getInstance();
beam = BeamBreakSubsystem.getInstance();
requires(collect);
this.power = -power;
this.isShooting = isShooting;
}
// Called once after isFinished returns true
protected void end() {
if (!isShooting) collect.setPower(0);
}