When we have one/two balls in intake side of elevator, there's a long (<1s) pause between when driver commands shot and the first ball is shot. We can run the elevator faster prior to the first ball arriving at the shooter-side ToF sensor.
Logic is something like:
When shot is first requested, set an internal member variable to true if a cargo is currently detected by shooter ToF and false otherwise
While shot is requested and shooter ToF does not see cargo, run elevator at increased speed
Once cargo is detected at shooter ToF, update member variable to indicate cargo are primed and reduce elevator speed to standard shooting speed
When we have one/two balls in intake side of elevator, there's a long (<1s) pause between when driver commands shot and the first ball is shot. We can run the elevator faster prior to the first ball arriving at the shooter-side ToF sensor.
Logic is something like: