set intake

src/main/java/frc4388/robot/RobotContainer.java

@@ -84,8 +84,8 @@ public class RobotContainer {
 
     // extends and retracts the extender 
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-        .whenPressed(() -> m_robotIntake.runExtender(true))
-        .whenReleased(() -> m_robotIntake.runExtender(false));
+        .whenPressed(() -> m_robotIntake.extendExtender(true))
+        .whenReleased(() -> m_robotIntake.extendExtender(false));
 
     // activates "Lit Mode"
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
@@ -96,11 +96,11 @@ public class RobotContainer {
         .whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
         .whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
         
-    new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
-        .whenPressed(() -> m_robotIntake.runExtender(true)); 
+    // new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
+        // .whenPressed(() -> m_robotIntake.extendExtender(true)); 
 
-    new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
-      .whenPressed(() -> m_robotIntake.runExtender(false));
+    new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
+      .whenPressed(() -> m_robotIntake.toggleExtender());
   }
 
   /**

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

@@ -0,0 +1,88 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import javax.sql.rowset.WebRowSet;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.CANSparkMax.ControlType;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMax.SoftLimitDirection;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+// import frc4388.robot.Constants.ShooterConstants;
+import frc4388.utility.Gains;
+
+public class Hood extends SubsystemBase {
+  // public BoomBoom m_shooterSubsystem;
+  
+  public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
+  public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
+  // public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
+  public RelativeEncoder m_angleEncoder;
+  public CANSparkMax m_angleAdjustMotor;
+  public SparkMaxPIDController m_angleAdjusterPIDController;
+  
+  
+  public boolean m_isHoodReady = false;
+
+public double m_fireAngle;
+  
+
+  /** Creates a new Hood. */
+  public Hood(CANSparkMax angleAdjustMotor) {
+    m_angleAdjustMotor = angleAdjustMotor;
+     m_angleAdjustMotor.setIdleMode(IdleMode.kBrake);
+     m_angleEncoder= m_angleAdjustMotor.getEncoder();
+     m_angleAdjusterPIDController = m_angleAdjustMotor.getPIDController();
+    m_hoodUpLimitSwitch = m_angleAdjustMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_hoodDownLimitSwitch = m_angleAdjustMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_hoodUpLimitSwitch.enableLimitSwitch(true);
+    m_hoodDownLimitSwitch.enableLimitSwitch(true);
+  }
+    
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+  // public void runAngleAdjustPID(double targetAngle) 
+  // {
+  //   //Set PID Coefficients
+  //   m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
+  //   m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
+  //   m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
+  //   m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
+  //   m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
+  //   m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN / 5, m_angleAdjusterGains.m_kPeakOutput / 5);
+
+  //   m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
+  // }
+  
+
+  public void runHood(double input) {
+    input *= .6;
+    m_angleAdjustMotor.set(input);
+  }
+
+
+
+  public void resetGyroAngleAdj(){
+    m_angleEncoder.setPosition(0);
+  }
+
+  public double getAnglePositionPID() {
+    return m_angleEncoder.getPosition();
+  }
+
+  // public double getAnglePositionDegrees(){
+    // return ((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
+  // }
+}

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

@@ -51,14 +51,14 @@ public class Intake extends SubsystemBase {
     m_intakeMotor.set(rightTrigger - leftTrigger);
   }
 
-  public void runExtender(boolean extended) {
-    double extenderMotorSpeed = extended ? 0.25d : 0.d;
+  public void extendExtender(boolean extended) {
+    double extenderMotorSpeed = extended ? 0.25d : -0.25d;
     m_extenderMotor.set(extenderMotorSpeed);
   }
 
   public void toggleExtender() {
     toggle = !toggle;
-    runExtender(toggle);
+    extendExtender(toggle);
   }
   //Test
 }