If the Feeder is told to start feeding, it checks to see if the shooter is ready to have balls fed. If the Feeder is told to feed while the shooter isn't ready, it simply won't feed, ever. This isn't a big deal in itself, as the Feed command would just have to be run again once the shooter is ready.
The biggest problem occurs with things like the ToggleFeeder/Agitator command. This bug could cause the Agitator and Feeder to get off-sync, meaning that only one can be run at a time.
Solution: Feed command waits for canFeed() to be true, and doesn't return isFinished until canFeed() has returned true.
If the Feeder is told to start feeding, it checks to see if the shooter is ready to have balls fed. If the Feeder is told to feed while the shooter isn't ready, it simply won't feed, ever. This isn't a big deal in itself, as the Feed command would just have to be run again once the shooter is ready.
The biggest problem occurs with things like the ToggleFeeder/Agitator command. This bug could cause the Agitator and Feeder to get off-sync, meaning that only one can be run at a time.
Solution: Feed command waits for canFeed() to be true, and doesn't return isFinished until canFeed() has returned true.