The IR sensor gives garbage data when it's looking off into space, this causes the IntakeSingleTote command group to incorrectly step through sequences (closes intake early). In needs to be more reliable.
Pick new values that are stable for when the intake automatically closes/stops.
It might make sense to just run the intake wheels and leave the intake arms open until the tote is almost all the way into the intake, then close the intake arms and stop the wheels when the tote is all the way back.
The IR sensor gives garbage data when it's looking off into space, this causes the IntakeSingleTote command group to incorrectly step through sequences (closes intake early). In needs to be more reliable. Pick new values that are stable for when the intake automatically closes/stops.
It might make sense to just run the intake wheels and leave the intake arms open until the tote is almost all the way into the intake, then close the intake arms and stop the wheels when the tote is all the way back.