In DriveAndLoadingAimCommand class slow down the throttle as the loading zone target gets bigger/closer. Once we lose sight, or the target goes from getting bigger to smaller, make sure we keep the last slow speed. Ensure that when the command ends (e.g. button not held), the drive returns to normal speeds.
This is to avoid slamming into the loading zone and partially shutting the hopper. Thus having balls not make it in
In DriveAndLoadingAimCommand class slow down the throttle as the loading zone target gets bigger/closer. Once we lose sight, or the target goes from getting bigger to smaller, make sure we keep the last slow speed. Ensure that when the command ends (e.g. button not held), the drive returns to normal speeds. This is to avoid slamming into the loading zone and partially shutting the hopper. Thus having balls not make it in
(thanks Kyle for the tip)