L1 stuff and refactor

Author: Strflightmight09

src/main/java/frc/trigon/robot/misc/objectdetectioncamera/ObjectPoseEstimator.java

@@ -26,7 +26,9 @@ public class ObjectPoseEstimator extends SubsystemBase {
      * @param gamePieceType            the type of game piece to track
      * @param cameras                  the cameras used for detecting objects
      */
-    public ObjectPoseEstimator(double deletionThresholdSeconds, DistanceCalculationMethod distanceCalculationMethod, SimulatedGamePieceConstants.GamePieceType gamePieceType, ObjectDetectionCamera... cameras) {
+    public ObjectPoseEstimator(double deletionThresholdSeconds, DistanceCalculationMethod distanceCalculationMethod,
+                               SimulatedGamePieceConstants.GamePieceType gamePieceType,
+                               ObjectDetectionCamera... cameras) {
         this.deletionThresholdSeconds = deletionThresholdSeconds;
         this.gamePieceType = gamePieceType;
         this.cameras = cameras;

src/main/java/frc/trigon/robot/subsystems/coralintake/CoralIntakeCommands.java

@@ -6,7 +6,9 @@
 import edu.wpi.first.wpilibj2.command.StartEndCommand;
 import frc.trigon.robot.RobotContainer;
 import frc.trigon.robot.commands.commandfactories.CoralCollectionCommands;
+import frc.trigon.robot.commands.commandfactories.CoralPlacingCommands;
 import frc.trigon.robot.commands.commandfactories.GeneralCommands;
+import frc.trigon.robot.constants.OperatorConstants;
 import org.trigon.commands.GearRatioCalculationCommand;
 import org.trigon.commands.NetworkTablesCommand;
 
@@ -41,7 +43,7 @@ public static Command getCoralIntakeDefaultCommand() {
         return GeneralCommands.getContinuousConditionalCommand(
                 getPrepareForStateCommand(CoralIntakeConstants.CoralIntakeState.COLLECT_FROM_FLOOR),
                 getSetTargetStateCommand(CoralIntakeConstants.CoralIntakeState.REST),
-                () -> CoralCollectionCommands.SHOULD_KEEP_INTAKE_OPEN
+                () -> CoralCollectionCommands.SHOULD_KEEP_INTAKE_OPEN && !OperatorConstants.REEF_CHOOSER.getScoringLevel().equals(CoralPlacingCommands.ScoringLevel.L1_CORAL_INTAKE)
         );
     }