jtechau
commented
2 years ago Possible solution:
Rather than requiring the transition subsystem, the shoot commands and intake command could call methods in the transition subsystem that lets the subsystem know when a shoot command and/or intake command is in progress. The subsystem could then run the transition at an appropriate speed based on priority of what's in progress.
When a shoot command is issued and the intake is deployed, the shoot command cancels the deploy intake command. This won't retract the intake, but does stop the intake rollers. It appears this is due to both commands requiring the transition subsystem.