There are some shortfalls with the current implementation of agitator unjamming which will require some changes to the agitator control scheme.
Unjam only works for continuous fire
Unjam doesn't take into account the (potentially) shaped velocity of the motor
One option is to create a ComprisedCommand with logic to handle unjamming, and have a separate unjam command which performs the motion before passing back control to whichever command was running prior, i.e. continuous or burst fire commands.
There are some shortfalls with the current implementation of agitator unjamming which will require some changes to the agitator control scheme.
One option is to create a ComprisedCommand with logic to handle unjamming, and have a separate unjam command which performs the motion before passing back control to whichever command was running prior, i.e. continuous or burst fire commands.