Intake fixes

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -20,15 +20,17 @@ public class Intake extends SubsystemBase {
 
   private WPI_TalonFX m_intakeMotor;
   private CANSparkMax m_extenderMotor;
+  private Serializer m_serializer;
   private SparkMaxLimitSwitch m_inLimit;
   private SparkMaxLimitSwitch m_outLimit;
 
   public boolean toggle;
 
   /** Creates a new Intake. */
-  public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) {
+  public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor, Serializer serializer) {
     m_intakeMotor = intakeMotor;
     m_extenderMotor = extenderMotor; 
+    m_serializer = serializer;
 
     m_extenderMotor.restoreFactoryDefaults();
 
@@ -59,9 +61,15 @@ public class Intake extends SubsystemBase {
    * @param extended Wether the Extender Is Extended
    */
   public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?)
-    double extenderMotorSpeed = extended ? 0.25d : 0.d;
+    if (!m_serializer.getBeam() && !extended) return;
+    double extenderMotorSpeed = extended ? 0.25d : -0.25d;
     m_extenderMotor.set(extenderMotorSpeed);
   }
+
+  public void runExtender(double input) {
+    if (!m_serializer.getBeam() && input < 0.) return;
+    m_extenderMotor.set(input);
+  }
   /**
    * Toggles The Extender
   */
@@ -69,5 +77,4 @@ public class Intake extends SubsystemBase {
     toggle = !toggle;
     runExtender(toggle);
   }
-  //Test
 }

src/main/java/frc4388/robot/subsystems/Serializer.java

@@ -3,6 +3,7 @@ package frc4388.robot.subsystems;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants;
+import frc4388.robot.Constants.SerializerConstants;
 import edu.wpi.first.wpilibj.DigitalInput;
 import com.revrobotics.CANSparkMax;
 
@@ -14,15 +15,16 @@ public class Serializer extends SubsystemBase{
 
   public Serializer(CANSparkMax serializerBelt, /*CANSparkMax serializerShooterBelt,*/ DigitalInput serializerBeam) { 
     m_serializerBelt = serializerBelt;
-    // m_serializerShooterBelt = serializerShooterBelt;
     m_serializerBeam = serializerBeam;
 
-    serializerState = false;
-    setSerializerState(serializerState);
     m_serializerBelt.set(0);
     // m_serializerShooterBelt.set(0);
     
   }
+
+  public void setSerializer(double input){
+    m_serializerBelt.set(input);
+  }
   /**
    * Gets The State Of The Beam
    * @return The State Of The Beam
@@ -30,40 +32,16 @@ public class Serializer extends SubsystemBase{
   public boolean getBeam() {
     return m_serializerBeam.get();
   }
+
   /**
    * Sets The Serializer State With The Beam
    * @param state Your State Of The Button
    * @param beambroken The State of the Beam Senser
    */
-  public void setSerializerStateWithBeam(boolean state, boolean beambroken) {
-    boolean total = state || beambroken;
-    setSerializerState(total);
+  public void setSerializerStateWithBeam() {
+    if (m_serializerBeam.get()) setSerializer(0.0);
+    else setSerializer(SerializerConstants.SERIALIZER_BELT_SPEED);
   }
-  /**
-   * Sets The Serializer State With The Beam 
-   * @param state Your State Of The Button
-   */
-  public void setSerializerState(boolean state) {
-    setSerializerBeltState(state);
-    // setSerializerShooterBeltState(state);
-    serializerState = state;
-  }
-  /**
-   * Sets the Serializer Belt State
-   * @param state Your State Of The Button
-   */
-  public void setSerializerBeltState(boolean state) {
-    double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
-    m_serializerBelt.set(serializerBeltSpeed);
-  }
-  // /**
-  //  * Sets the Shooter Belt State
-  //  * @param state Your State Of The Button
-  //  */
-  // public void setSerializerShooterBeltState(boolean state) {
-  //   double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
-  //   m_serializerShooterBelt.set(serializerShooterBeltSpeed);
-  // }
   
   /**
    * Gets the Serializer State

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -26,9 +26,8 @@ public class Storage extends SubsystemBase {
    * If Else, Stop Running Storage
    */
   public void manageStorage() {
-    if (getBeamIntake()) { //Maybe needs to be shooter
-      runStorage(1.d);
-    } else { runStorage(0.d); }
+    if (getBeamIntake()) runStorage(0.d);
+    else runStorage(1.d);
   }
   
   /**
@@ -43,7 +42,7 @@ public class Storage extends SubsystemBase {
    * @return The State Of The Beam on the Shooter
    */
   public boolean getBeamShooter(){
-    return m_beamShooter.get();
+    return m_beamShooter.get();//True if open
   }
 
   /**
@@ -51,7 +50,7 @@ public class Storage extends SubsystemBase {
    * @return The Beam State Of The Intake
    */
   public boolean getBeamIntake(){
-    return m_beamIntake.get();
+    return m_beamIntake.get(); //True if open
   }