add debouncer

src/main/java/com/stuypulse/robot/constants/Ports.java

@@ -15,7 +15,9 @@ public interface Gamepad {
 
     public interface Conveyor {
         int CONVEYOR_MOTOR_PORT = 10;
-        int SHOOTER_FEEDER_MOTOR_PORT = 9;
+        int SHOOTER_FEEDER_MOTOR_PORT = 11;
+
+        int IR_SENSOR_PORT = 12;
 
     }
 }

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -26,6 +26,7 @@ public interface Conveyor {
         SmartNumber GANDALF_AMP_SPEED = new SmartNumber("Conveyor/Gandalf Amp Speed", 0);
         SmartNumber SHOOTER_FEEDER_SPEED = new SmartNumber("Conveyor/Shooter Feeder Speed", -0.9);
 
+        SmartNumber DEBOUNCE_TIME = new SmartNumber("Conveyor/Debounce Time", 0.2);
     }
 
 }

src/main/java/com/stuypulse/robot/subsystems/Conveyor/ConveyorImpl.java

@@ -2,20 +2,42 @@
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.stuypulse.stuylib.streams.booleans.BStream;
+import com.stuypulse.stuylib.streams.booleans.filters.BDebounceRC;
+
+import edu.wpi.first.math.filter.Debouncer.DebounceType;
+import edu.wpi.first.wpilibj.DigitalInput;
+
 import static com.stuypulse.robot.constants.Ports.Conveyor.*;
 import static com.stuypulse.robot.constants.Settings.Conveyor.*;
 import static com.stuypulse.robot.constants.Motors.Conveyor.*;
+
+
 public class ConveyorImpl extends Conveyor {
 
     private final CANSparkMax gandalfMotor;
     private final CANSparkMax shooterFeederMotor;
+    private final DigitalInput IRSensor;
+
+    private BStream isAtShooter;
 
     protected ConveyorImpl(){
         gandalfMotor = new CANSparkMax(CONVEYOR_MOTOR_PORT, MotorType.kBrushless);
         shooterFeederMotor = new CANSparkMax(SHOOTER_FEEDER_MOTOR_PORT, MotorType.kBrushless);
 
+        IRSensor = new DigitalInput(IR_SENSOR_PORT);
+
         GANDALF_MOTOR.configure(gandalfMotor);
         SHOOTER_FEEDER_MOTOR.configure(shooterFeederMotor);
+
+        isAtShooter = 
+            BStream.create(this::isLoaded)
+                .filtered(new BDebounceRC.Rising(DEBOUNCE_TIME));
+    }
+
+
+    public boolean isLoaded() {
+        return !IRSensor.get();
     }
 
     @Override