From 615dfd82d1a66372fa54f2b1dcdd5364cb241e53 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Wed, 12 Jan 2022 06:00:44 +0530
Subject: [PATCH 01/27] Create Intake.java

---
 .../java/frc4388/robot/subsystems/Intake.java | 24 +++++++++++++++++++
 1 file changed, 24 insertions(+)
 create mode 100644 src/main/java/frc4388/robot/subsystems/Intake.java

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
new file mode 100644
index 0000000..50d508d
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -0,0 +1,24 @@
+// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Intake extends SubsystemBase {
+
+  /** Creates a new Intake. */
+  public Intake() {
+
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  public void runWithTriggers(double leftTrigger, double rightTrigger){
+
+  }
+}

From 4d7dc303c8133ddc332294af9179c6e2b574d295 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Wed, 12 Jan 2022 06:34:13 +0530
Subject: [PATCH 02/27] Update Intake.java

---
 src/main/java/frc4388/robot/subsystems/Intake.java | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 50d508d..b5041e8 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -21,4 +21,12 @@ public class Intake extends SubsystemBase {
   public void runWithTriggers(double leftTrigger, double rightTrigger){
 
   }
+
+  public void runIntake(double input) {
+    m_intakeMotor.set(input);
+  }
+
+  Public vod runExtender(double input) {
+    m_extenderMotor.set(input);
+  }
 }

From 26f79fa8d5254ec35047536354212847519d0b35 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Thu, 13 Jan 2022 05:41:53 +0530
Subject: [PATCH 03/27] Update Intake.java

---
 src/main/java/frc4388/robot/subsystems/Intake.java | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index b5041e8..6f220c1 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -18,15 +18,11 @@ public class Intake extends SubsystemBase {
     // This method will be called once per scheduler run
   }
 
-  public void runWithTriggers(double leftTrigger, double rightTrigger){
-
-  }
-
-  public void runIntake(double input) {
+  public void runWithTriggers(double leftTrigger, double rightTrigger) {
     m_intakeMotor.set(input);
   }
 
-  Public vod runExtender(double input) {
+  public void runExtender(double input) {
     m_extenderMotor.set(input);
   }
 }

From d2d44dc2c481b08a65fb4d83b3875dc08aa9d7d7 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Thu, 13 Jan 2022 05:50:39 +0530
Subject: [PATCH 04/27] Update Intake.java

---
 src/main/java/frc4388/robot/subsystems/Intake.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 6f220c1..fc655ea 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -19,10 +19,10 @@ public class Intake extends SubsystemBase {
   }
 
   public void runWithTriggers(double leftTrigger, double rightTrigger) {
-    m_intakeMotor.set(input);
+    m_intakeMotor.set(rightTrigger - leftTrigger);
   }
 
-  public void runExtender(double input) {
-    m_extenderMotor.set(input);
+  public void runExtender(boolean extended) {
+    m_extenderMotor.set(extended ? 1 : 0);
   }
 }

From 78e1c1a94e46aa03d143c7f7c63bfd91110f50fc Mon Sep 17 00:00:00 2001
From: aarav18 <57469559+aarav18@users.noreply.github.com>
Date: Thu, 13 Jan 2022 18:06:38 -0700
Subject: [PATCH 05/27] Update Intake.java

---
 src/main/java/frc4388/robot/subsystems/Intake.java | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index fc655ea..7db1b7f 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -4,13 +4,19 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Intake extends SubsystemBase {
 
-  /** Creates a new Intake. */
-  public Intake() {
+  private WPI_TalonFX m_intakeMotor;
+  private WPI_TalonFX m_extenderMotor;
 
+  /** Creates a new Intake. */
+  public Intake(WPI_TalonFX m_intakeMotor, WPI_TalonFX m_extenderMotor) {
+    this.m_intakeMotor = m_intakeMotor;
+    this.m_extenderMotor = m_extenderMotor; 
   }
 
   @Override

From 2f8a45fcb0e1650b9a6139543103b550f896e669 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Thu, 13 Jan 2022 19:03:01 -0700
Subject: [PATCH 06/27] Create intake.java

---
 .../java/frc4388/robot/commands/intake.java     | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)
 create mode 100644 src/main/java/frc4388/robot/commands/intake.java

diff --git a/src/main/java/frc4388/robot/commands/intake.java b/src/main/java/frc4388/robot/commands/intake.java
new file mode 100644
index 0000000..04fc49c
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/intake.java
@@ -0,0 +1,17 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class intake extends SubsystemBase {
+  /** Creates a new intake. */
+  public intake() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 5927e54b568b3748fc7681216795b2c8e0dd3919 Mon Sep 17 00:00:00 2001
From: aarav18 <57469559+aarav18@users.noreply.github.com>
Date: Thu, 13 Jan 2022 19:05:30 -0700
Subject: [PATCH 07/27] Update intake.java

---
 src/main/java/frc4388/robot/commands/intake.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/commands/intake.java b/src/main/java/frc4388/robot/commands/intake.java
index 04fc49c..dbf192a 100644
--- a/src/main/java/frc4388/robot/commands/intake.java
+++ b/src/main/java/frc4388/robot/commands/intake.java
@@ -6,7 +6,7 @@ package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class intake extends SubsystemBase {
+public class Intake extends SubsystemBase {
   /** Creates a new intake. */
   public intake() {}
 

From a58ee0c7952e48cf14450771a2375b9fa666a9b1 Mon Sep 17 00:00:00 2001
From: aarav18 <57469559+aarav18@users.noreply.github.com>
Date: Thu, 13 Jan 2022 19:13:59 -0700
Subject: [PATCH 08/27] Delete intake.java

---
 .../java/frc4388/robot/commands/intake.java     | 17 -----------------
 1 file changed, 17 deletions(-)
 delete mode 100644 src/main/java/frc4388/robot/commands/intake.java

diff --git a/src/main/java/frc4388/robot/commands/intake.java b/src/main/java/frc4388/robot/commands/intake.java
deleted file mode 100644
index dbf192a..0000000
--- a/src/main/java/frc4388/robot/commands/intake.java
+++ /dev/null
@@ -1,17 +0,0 @@
-// 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.commands;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class Intake extends SubsystemBase {
-  /** Creates a new intake. */
-  public intake() {}
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

From e3954863cd6c3e455daa92dd2833eb4a36f12ff9 Mon Sep 17 00:00:00 2001
From: aarav18 <57469559+aarav18@users.noreply.github.com>
Date: Thu, 13 Jan 2022 19:26:37 -0700
Subject: [PATCH 09/27] Update RobotContainer.java

---
 src/main/java/frc4388/robot/RobotContainer.java | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 7b69652..929f15c 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
+import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.utility.LEDPatterns;
@@ -39,6 +40,7 @@ public class RobotContainer {
     m_robotMap.rightBackEncoder
   );
 
+  private final Intake m_intake = new Intake(null, null);
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
   /* Controllers */
@@ -59,6 +61,7 @@ public class RobotContainer {
 
     // continually sends updates to the Blinkin LED controller to keep the lights on
     m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
+    // dri
   }
 
   /**
@@ -71,6 +74,10 @@ public class RobotContainer {
     /* Driver Buttons */
 
     /* Operator Buttons */
+    new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+        .whenPressed(() -> m_intake.runExtender(true))
+        .whenReleased(() -> m_intake.runExtender(false));
+
     // activates "Lit Mode"
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
         .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))

From f483e4c21b42d39361ba448c10ffc30534737f99 Mon Sep 17 00:00:00 2001
From: aarav18 <57469559+aarav18@users.noreply.github.com>
Date: Thu, 13 Jan 2022 19:29:53 -0700
Subject: [PATCH 10/27] Update RobotContainer.java

---
 src/main/java/frc4388/robot/RobotContainer.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 929f15c..efad255 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -74,6 +74,8 @@ public class RobotContainer {
     /* Driver Buttons */
 
     /* Operator Buttons */
+
+    // extends and retracts the extender 
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
         .whenPressed(() -> m_intake.runExtender(true))
         .whenReleased(() -> m_intake.runExtender(false));

From 21294706a51b49bc6c3d5a83bd73207473d80ae2 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Thu, 20 Jan 2022 18:08:31 -0700
Subject: [PATCH 11/27] Update Intake.java

---
 src/main/java/frc4388/robot/subsystems/Intake.java | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 7db1b7f..8c34527 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -14,9 +14,9 @@ public class Intake extends SubsystemBase {
   private WPI_TalonFX m_extenderMotor;
 
   /** Creates a new Intake. */
-  public Intake(WPI_TalonFX m_intakeMotor, WPI_TalonFX m_extenderMotor) {
-    this.m_intakeMotor = m_intakeMotor;
-    this.m_extenderMotor = m_extenderMotor; 
+  public Intake(WPI_TalonFX intakeMotor, WPI_TalonFX extenderMotor) {
+    m_intakeMotor = intakeMotor;
+    m_extenderMotor = extenderMotor; 
   }
 
   @Override
@@ -29,6 +29,12 @@ public class Intake extends SubsystemBase {
   }
 
   public void runExtender(boolean extended) {
-    m_extenderMotor.set(extended ? 1 : 0);
+    m_extenderMotor.set(extended ? 1 : -1);
   }
 }
+
+/*
+ Function toggle extender
+            bool = !bool
+Configure limit switches forward and reverse
+*/
\ No newline at end of file

From c6083d8276c019b5ad4664b719adc3298d260cb0 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Thu, 20 Jan 2022 18:10:55 -0700
Subject: [PATCH 12/27] Update RobotContainer.java

---
 src/main/java/frc4388/robot/RobotContainer.java | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index efad255..85b3bf4 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -40,7 +40,7 @@ public class RobotContainer {
     m_robotMap.rightBackEncoder
   );
 
-  private final Intake m_intake = new Intake(null, null);
+  private final Intake m_robotIntake = new Intake(null, null);
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
   /* Controllers */
@@ -59,8 +59,12 @@ public class RobotContainer {
         new RunCommand(() -> m_robotSwerveDrive.driveWithInput(getDriverController().getLeftXAxis(),
             getDriverController().getLeftYAxis(), getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
 
+    m_robotIntake.setDefaultCommand(
+        new RunCommand(() -> m_robotIntake.runWithTriggers(
+          getDriverController().getLeftTriggerAxis(), getDriverController().getRightTriggerAxis()),m_robotIntake));
     // continually sends updates to the Blinkin LED controller to keep the lights on
-    m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
+    m_robotLED.setDefaultCommand(
+        new RunCommand(m_robotLED::updateLED, m_robotLED));                      
     // dri
   }
 
@@ -77,8 +81,8 @@ public class RobotContainer {
 
     // extends and retracts the extender 
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-        .whenPressed(() -> m_intake.runExtender(true))
-        .whenReleased(() -> m_intake.runExtender(false));
+        .whenPressed(() -> m_robotIntake.runExtender(true))
+        .whenReleased(() -> m_robotIntake.runExtender(false));
 
     // activates "Lit Mode"
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)

From e9bb3890b1ab11a1f270f32095f5ddcc17c33214 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEZach=20Wilke?=
 <90875734+76842@users.noreply.github.com>
Date: Fri, 21 Jan 2022 16:38:44 -0700
Subject: [PATCH 13/27] Update .gitignore

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index 9535c83..de0a2d1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -160,3 +160,4 @@ bin/
 
 # Simulation GUI and other tools window save file
 *-window.json
+.vscode/launch.json

From 5b14ed76ece5ae8cc0c3577826a090602e03af57 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Fri, 21 Jan 2022 17:09:53 -0700
Subject: [PATCH 14/27] Create REVLib.json

---
 vendordeps/REVLib.json | 73 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 73 insertions(+)
 create mode 100644 vendordeps/REVLib.json

diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
new file mode 100644
index 0000000..997e2a4
--- /dev/null
+++ b/vendordeps/REVLib.json
@@ -0,0 +1,73 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2022.1.1",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2022.1.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2022.1.1",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.1",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file

From 1e498bef56eba5fce2d3ce7d35831de721c0bc21 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Fri, 21 Jan 2022 17:09:57 -0700
Subject: [PATCH 15/27] Update Intake.java

---
 .../java/frc4388/robot/subsystems/Intake.java | 42 ++++++++++++++-----
 1 file changed, 32 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 8c34527..571e332 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -4,19 +4,42 @@
 
 package frc4388.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.CANSparkMax.IdleMode;
 
 public class Intake extends SubsystemBase {
 
   private WPI_TalonFX m_intakeMotor;
-  private WPI_TalonFX m_extenderMotor;
+  private CANSparkMax m_extenderMotor;
+  private SparkMaxLimitSwitch m_inLimit;
+  private SparkMaxLimitSwitch m_outLimit;
+
+  public boolean toggle;
 
   /** Creates a new Intake. */
-  public Intake(WPI_TalonFX intakeMotor, WPI_TalonFX extenderMotor) {
+  public Intake(WPI_TalonFX intakeMotor, Spark extenderMotor) {
     m_intakeMotor = intakeMotor;
-    m_extenderMotor = extenderMotor; 
+    //m_extenderMotor = extenderMotor; 
+
+    
+    // m_intakeMotor.restoreFactoryDefaults();
+    // m_extenderMotor.restoreFactoryDefaults();
+
+    m_intakeMotor.setNeutralMode(NeutralMode.Brake);
+    m_extenderMotor.setIdleMode(IdleMode.kBrake);
+    m_intakeMotor.setInverted(false);
+    m_extenderMotor.setInverted(true);
+    
+    m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_inLimit.enableLimitSwitch(true);
+    m_outLimit.enableLimitSwitch(true);
   }
 
   @Override
@@ -29,12 +52,11 @@ public class Intake extends SubsystemBase {
   }
 
   public void runExtender(boolean extended) {
-    m_extenderMotor.set(extended ? 1 : -1);
+    //m_extenderMotor.set(extended ? 1 : -1);
   }
-}
 
-/*
- Function toggle extender
-            bool = !bool
-Configure limit switches forward and reverse
-*/
\ No newline at end of file
+  public void toggleExtender() {
+    toggle = !toggle;
+    runExtender(toggle);
+  }
+}
\ No newline at end of file

From 9112c871561236aeb342ed1338914e60c95945ad Mon Sep 17 00:00:00 2001
From: Ryan Manley <ryan123rudder@gmail.com>
Date: Fri, 21 Jan 2022 19:00:11 -0700
Subject: [PATCH 16/27] Add Intake to robotmap and constants

Co-Authored-By: 76842 <90875734+76842@users.noreply.github.com>
---
 src/main/java/frc4388/robot/Constants.java      | 12 ++++++++----
 src/main/java/frc4388/robot/RobotContainer.java |  2 +-
 src/main/java/frc4388/robot/RobotMap.java       |  5 +++++
 3 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index f7d5575..48d9057 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -72,11 +72,15 @@ public final class Constants {
     public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN)
     
     // CAN IDs
-    public static final int SERIALIZER_BELT = -1; // TODO
-    public static final int SERIALIZER_SHOOTER_BELT = -1; // TODO
-    public static final int SERIALIZER_BELT_BEAM = -1; // TODO
+    public static final int SERIALIZER_BELT = 1; // TODO
+    public static final int SERIALIZER_SHOOTER_BELT = 2; // TODO
+    public static final int SERIALIZER_BELT_BEAM = 3; // TODO
+  }
+  public static final class IntakeConstants {
+    // CAN IDs
+    public static final int INTAKE_MOTOR = 3;
+    public static final int EXTENDER_MOTOR = 4;
   }
-
   public static final class LEDConstants {
     public static final int LED_SPARK_ID = 0;
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 362c955..2d1eba1 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -41,7 +41,7 @@ public class RobotContainer {
     m_robotMap.rightBackEncoder
   );
 
-  private final Intake m_robotIntake = new Intake(null, null);
+  private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor);
   private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt);
 
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 250c8cb..26af808 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -8,6 +8,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import frc4388.robot.Constants.IntakeConstants;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SerializerConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
@@ -97,4 +98,8 @@ public class RobotMap {
 
   public final Spark serializerBelt = new Spark(SerializerConstants.SERIALIZER_BELT);
   public final Spark serializerShooterBelt = new Spark(SerializerConstants.SERIALIZER_SHOOTER_BELT);
+  
+  /* Intake Subsytem */
+  public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
+  public final Spark extenderMotor = new Spark(IntakeConstants.EXTENDER_MOTOR);
 }

From f1f1de18bb1aebe299dcac422e4ee280888e1bcf Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Tue, 25 Jan 2022 17:17:07 -0700
Subject: [PATCH 17/27] Done Test code

Co-Authored-By: 76842 <90875734+76842@users.noreply.github.com>
---
 src/main/java/frc4388/robot/Constants.java    | 10 ++++----
 .../java/frc4388/robot/RobotContainer.java    | 20 ++++++++--------
 src/main/java/frc4388/robot/RobotMap.java     | 12 ++++++----
 .../java/frc4388/robot/subsystems/Intake.java | 23 +++++++++----------
 .../frc4388/robot/subsystems/Serializer.java  | 18 +++++++++++----
 5 files changed, 46 insertions(+), 37 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 48d9057..3651898 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -68,18 +68,18 @@ public final class Constants {
   }
 
   public static final class SerializerConstants {
-    public static final double SERIALIZER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN)
-    public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN)
+    public static final double SERIALIZER_BELT_SPEED = 1.d; // TODO (currently max power, DO NOT RUN)
+    public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.d; // TODO (currently max power, DO NOT RUN)
     
     // CAN IDs
-    public static final int SERIALIZER_BELT = 1; // TODO
-    public static final int SERIALIZER_SHOOTER_BELT = 2; // TODO
+    public static final int SERIALIZER_BELT = 2; // TODO
+    public static final int SERIALIZER_SHOOTER_BELT = 5; // TODO
     public static final int SERIALIZER_BELT_BEAM = 3; // TODO
   }
   public static final class IntakeConstants {
     // CAN IDs
     public static final int INTAKE_MOTOR = 3;
-    public static final int EXTENDER_MOTOR = 4;
+    public static final int EXTENDER_MOTOR = 6;
   }
   public static final class LEDConstants {
     public static final int LED_SPARK_ID = 0;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2d1eba1..c2bdb96 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -29,7 +29,7 @@ public class RobotContainer {
   /* RobotMap */
   private final RobotMap m_robotMap = new RobotMap();
 
-  /* Subsystems */
+  /* Subsystems 
   private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
     m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
     m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
@@ -40,7 +40,7 @@ public class RobotContainer {
     m_robotMap.leftBackEncoder,
     m_robotMap.rightBackEncoder
   );
-
+  */
   private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor);
   private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt);
 
@@ -58,9 +58,9 @@ public class RobotContainer {
 
     /* Default Commands */
     // drives the swerve drive with a two-axis input from the driver controller
-    m_robotSwerveDrive.setDefaultCommand(
-        new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
-            getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
+    // m_robotSwerveDrive.setDefaultCommand(
+    //     new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
+    //         getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
 
     m_robotIntake.setDefaultCommand(
         new RunCommand(() -> m_robotIntake.runWithTriggers(
@@ -88,13 +88,13 @@ public class RobotContainer {
         .whenReleased(() -> m_robotIntake.runExtender(false));
 
     // activates "Lit Mode"
-    new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-        .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
-        .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+    // new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+    //     .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
+    //     .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
     
     new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
-        .whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
-        .whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
+        .whenPressed(() -> m_robotSerializer.setSerializerState(true))
+        .whenReleased(() -> m_robotSerializer.setSerializerState(false));
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 26af808..c9f4012 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -6,12 +6,14 @@ package frc4388.robot;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
+import com.revrobotics.CANSparkMax;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import frc4388.robot.Constants.IntakeConstants;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SerializerConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 /**
  * Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -21,7 +23,7 @@ public class RobotMap {
 
   public RobotMap() {
     configureLEDMotorControllers();
-    configureSwerveMotorControllers();
+    //configureSwerveMotorControllers();
   }
 
   /* LED Subsystem */
@@ -31,7 +33,7 @@ public class RobotMap {
     
   }
   
-  /* Swerve Subsystem */
+  /* Swerve Subsystem 
   public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
   public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
   public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
@@ -96,10 +98,10 @@ public class RobotMap {
 
   /* Serializer Subsystem */
 
-  public final Spark serializerBelt = new Spark(SerializerConstants.SERIALIZER_BELT);
-  public final Spark serializerShooterBelt = new Spark(SerializerConstants.SERIALIZER_SHOOTER_BELT);
+  public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
+  public final CANSparkMax serializerShooterBelt = new CANSparkMax(SerializerConstants.SERIALIZER_SHOOTER_BELT, MotorType.kBrushless);
   
   /* Intake Subsytem */
   public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
-  public final Spark extenderMotor = new Spark(IntakeConstants.EXTENDER_MOTOR);
+  public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
 }
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 571e332..7d4997e 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -17,29 +17,27 @@ public class Intake extends SubsystemBase {
 
   private WPI_TalonFX m_intakeMotor;
   private CANSparkMax m_extenderMotor;
-  private SparkMaxLimitSwitch m_inLimit;
-  private SparkMaxLimitSwitch m_outLimit;
+  // private SparkMaxLimitSwitch m_inLimit;
+  // private SparkMaxLimitSwitch m_outLimit;
 
   public boolean toggle;
 
   /** Creates a new Intake. */
-  public Intake(WPI_TalonFX intakeMotor, Spark extenderMotor) {
+  public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) {
     m_intakeMotor = intakeMotor;
-    //m_extenderMotor = extenderMotor; 
+    m_extenderMotor = extenderMotor; 
 
     
-    // m_intakeMotor.restoreFactoryDefaults();
-    // m_extenderMotor.restoreFactoryDefaults();
+    m_extenderMotor.restoreFactoryDefaults();
 
     m_intakeMotor.setNeutralMode(NeutralMode.Brake);
-    m_extenderMotor.setIdleMode(IdleMode.kBrake);
     m_intakeMotor.setInverted(false);
     m_extenderMotor.setInverted(true);
     
-    m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
-    m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
-    m_inLimit.enableLimitSwitch(true);
-    m_outLimit.enableLimitSwitch(true);
+    // m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    // m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    // m_inLimit.enableLimitSwitch(true);
+    // m_outLimit.enableLimitSwitch(true);
   }
 
   @Override
@@ -52,7 +50,8 @@ public class Intake extends SubsystemBase {
   }
 
   public void runExtender(boolean extended) {
-    //m_extenderMotor.set(extended ? 1 : -1);
+    double extenderMotorSpeed = extended ? 0.25d : 0.d;
+    m_extenderMotor.set(extenderMotorSpeed);
   }
 
   public void toggleExtender() {
diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java
index 06815e8..8ef9612 100644
--- a/src/main/java/frc4388/robot/subsystems/Serializer.java
+++ b/src/main/java/frc4388/robot/subsystems/Serializer.java
@@ -4,37 +4,45 @@ import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants;
 import edu.wpi.first.wpilibj.DigitalInput;
+import com.revrobotics.CANSparkMax;
 
 public class Serializer extends SubsystemBase{
-  private Spark m_serializerBelt;
-  private Spark m_serializerShooterBelt;
+  private CANSparkMax m_serializerBelt;
+  private CANSparkMax m_serializerShooterBelt;
   private DigitalInput m_serializerBeam;
   private boolean serializerState;
 
-  public Serializer(Spark serializerBelt, Spark serializerShooterBelt) {
+  public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) {
     m_serializerBelt = serializerBelt;
     m_serializerShooterBelt = serializerShooterBelt;
-    m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
+    //m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
 
     serializerState = false;
     setSerializerState(serializerState);
+    m_serializerBelt.set(0);
+    m_serializerShooterBelt.set(0);
+    
   }
   public boolean getBeam() {
-    return m_serializerBeam.get();
+    System.out.println("oi");
+    return false;
   }
   public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) {
     boolean total = ctrlbutter || beambroken;
     setSerializerState(total);
   }
   public void setSerializerState(boolean state) {
+    System.out.println(state);
     setSerializerBeltState(state);
     setSerializerShooterBeltState(state);
     serializerState = state;
   }
 
   public void setSerializerBeltState(boolean state) {
+    System.out.println("oi");
     double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
     m_serializerBelt.set(serializerBeltSpeed);
+    System.out.println("oi2");
   }
 
   public void setSerializerShooterBeltState(boolean state) {

From 2814a5b44236f79b964960e66f308cfbd89435a3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEZach=20Wilke?=
 <90875734+76842@users.noreply.github.com>
Date: Tue, 25 Jan 2022 17:58:23 -0700
Subject: [PATCH 18/27] S T O R A G E

---
 src/main/java/frc4388/robot/Constants.java    |  5 +++
 .../frc4388/robot/subsystems/Serializer.java  |  3 --
 .../frc4388/robot/subsystems/Storage.java     | 39 +++++++++++++++++++
 3 files changed, 44 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/subsystems/Storage.java

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 3651898..23afeef 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -81,6 +81,11 @@ public final class Constants {
     public static final int INTAKE_MOTOR = 3;
     public static final int EXTENDER_MOTOR = 6;
   }
+  public static final class StorageConstants {
+    public static final int STORAGE_CAN_ID = -1; //TODO
+    public static final int BEAM_SENSOR_SHOOTER = -1; //TODO
+    public static final int BEAM_SENSOR_INTAKE = -1; //TODO
+  }
   public static final class LEDConstants {
     public static final int LED_SPARK_ID = 0;
 
diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java
index 8ef9612..2d76887 100644
--- a/src/main/java/frc4388/robot/subsystems/Serializer.java
+++ b/src/main/java/frc4388/robot/subsystems/Serializer.java
@@ -32,17 +32,14 @@ public class Serializer extends SubsystemBase{
     setSerializerState(total);
   }
   public void setSerializerState(boolean state) {
-    System.out.println(state);
     setSerializerBeltState(state);
     setSerializerShooterBeltState(state);
     serializerState = state;
   }
 
   public void setSerializerBeltState(boolean state) {
-    System.out.println("oi");
     double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
     m_serializerBelt.set(serializerBeltSpeed);
-    System.out.println("oi2");
   }
 
   public void setSerializerShooterBeltState(boolean state) {
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
new file mode 100644
index 0000000..fa03e2e
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -0,0 +1,39 @@
+// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import edu.wpi.first.wpilibj.DigitalInput;
+import frc4388.robot.Constants.StorageConstants;
+
+public class Storage extends SubsystemBase {
+  public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
+  private DigitalInput m_beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
+  private DigitalInput m_beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
+
+  /** Creates a new Storage. */
+  public Storage() {
+
+  }
+
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+  }
+
+  public boolean getBeamShooter(){
+    return m_beamShooter.get();
+  }
+
+  public boolean getBeamIntake(){
+    return m_beamIntake.get();
+  }
+  
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 27102b6dd52abcc471977b79ed0a27fb9ddb5bb0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEZach=20Wilke?=
 <90875734+76842@users.noreply.github.com>
Date: Tue, 25 Jan 2022 18:04:34 -0700
Subject: [PATCH 19/27] manageStorage

---
 src/main/java/frc4388/robot/subsystems/Storage.java | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
index fa03e2e..e2c65f2 100644
--- a/src/main/java/frc4388/robot/subsystems/Storage.java
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -19,7 +19,11 @@ public class Storage extends SubsystemBase {
   public Storage() {
 
   }
-
+  public void manageStorage() {
+    if (m_beamShooter.get()) {
+      runStorage(1.d);
+    } else { runStorage(0.d); }
+  }
   public void runStorage(double input) {
     m_storageMotor.set(input);
   }
@@ -31,7 +35,7 @@ public class Storage extends SubsystemBase {
   public boolean getBeamIntake(){
     return m_beamIntake.get();
   }
-  
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 5f1411b5184cd77719170d014ec23d3f15bd3fa1 Mon Sep 17 00:00:00 2001
From: aborunda <90010674+aborunda@users.noreply.github.com>
Date: Thu, 27 Jan 2022 18:44:55 -0700
Subject: [PATCH 20/27] Update Intake.java

---
 src/main/java/frc4388/robot/subsystems/Intake.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 7d4997e..2fd2531 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -58,4 +58,5 @@ public class Intake extends SubsystemBase {
     toggle = !toggle;
     runExtender(toggle);
   }
+  //Test
 }
\ No newline at end of file

From 1ceef732a2d2056d281d4588e578eea8c6a90711 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEZach=20Wilke?=
 <90875734+76842@users.noreply.github.com>
Date: Fri, 28 Jan 2022 16:14:07 -0700
Subject: [PATCH 21/27] Update Storage.java

---
 src/main/java/frc4388/robot/subsystems/Storage.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
index e2c65f2..9fc2df0 100644
--- a/src/main/java/frc4388/robot/subsystems/Storage.java
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -38,6 +38,6 @@ public class Storage extends SubsystemBase {
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    manageStorage();
   }
 }

From 61819114e490022f1f53d3391a30a34e71352831 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEZach=20Wilke?=
 <90875734+76842@users.noreply.github.com>
Date: Fri, 28 Jan 2022 17:59:25 -0700
Subject: [PATCH 22/27] ready code

---
 src/main/java/frc4388/robot/RobotContainer.java        | 10 +++++-----
 src/main/java/frc4388/robot/subsystems/Serializer.java |  5 ++---
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index c2bdb96..c352bc2 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -88,13 +88,13 @@ public class RobotContainer {
         .whenReleased(() -> m_robotIntake.runExtender(false));
 
     // activates "Lit Mode"
-    // new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-    //     .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
-    //     .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+    new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+        .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
+        .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
     
     new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
-        .whenPressed(() -> m_robotSerializer.setSerializerState(true))
-        .whenReleased(() -> m_robotSerializer.setSerializerState(false));
+        .whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
+        .whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java
index 2d76887..e9ec997 100644
--- a/src/main/java/frc4388/robot/subsystems/Serializer.java
+++ b/src/main/java/frc4388/robot/subsystems/Serializer.java
@@ -15,7 +15,7 @@ public class Serializer extends SubsystemBase{
   public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) {
     m_serializerBelt = serializerBelt;
     m_serializerShooterBelt = serializerShooterBelt;
-    //m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
+    m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
 
     serializerState = false;
     setSerializerState(serializerState);
@@ -24,8 +24,7 @@ public class Serializer extends SubsystemBase{
     
   }
   public boolean getBeam() {
-    System.out.println("oi");
-    return false;
+    return m_serializerBeam.get();
   }
   public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) {
     boolean total = ctrlbutter || beambroken;

From 4dabf7021e1b13fbe613aa2ebb925c06d5e87fb3 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Thu, 3 Feb 2022 19:51:12 -0700
Subject: [PATCH 23/27] Update Intake.java

---
 src/main/java/frc4388/robot/subsystems/Intake.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 2fd2531..ffb1b94 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -4,6 +4,10 @@
 
 package frc4388.robot.subsystems;
 
+//Imported Limit switch ONLY
+import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.SparkMaxLimitSwitch.Type;
+
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 

From 44870c8aa13ca5c9fc89f680caf7c83af9d4158b Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Tue, 8 Feb 2022 17:24:17 -0700
Subject: [PATCH 24/27] limit switches

---
 simgui-ds.json                                | 101 ++++++++++++++++++
 simgui.json                                   |  26 +++++
 .../java/frc4388/robot/subsystems/Intake.java |  14 ++-
 3 files changed, 133 insertions(+), 8 deletions(-)
 create mode 100644 simgui-ds.json
 create mode 100644 simgui.json

diff --git a/simgui-ds.json b/simgui-ds.json
new file mode 100644
index 0000000..b16ea5c
--- /dev/null
+++ b/simgui-ds.json
@@ -0,0 +1,101 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "useGamepad": true
+    },
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
+  ]
+}
diff --git a/simgui.json b/simgui.json
new file mode 100644
index 0000000..4af852e
--- /dev/null
+++ b/simgui.json
@@ -0,0 +1,26 @@
+{
+  "HALProvider": {
+    "Other Devices": {
+      "SPARK MAX [5]": {
+        "header": {
+          "open": true
+        }
+      },
+      "SPARK MAX [6]": {
+        "header": {
+          "open": true
+        }
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/LiveWindow/Intake": "Subsystem",
+      "/LiveWindow/LED": "Subsystem",
+      "/LiveWindow/Serializer": "Subsystem",
+      "/LiveWindow/Ungrouped/DigitalInput[3]": "Digital Input",
+      "/LiveWindow/Ungrouped/Scheduler": "Scheduler"
+    }
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index ffb1b94..9bc97d7 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -14,15 +14,14 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.SparkMaxLimitSwitch;
 import com.revrobotics.CANSparkMax.IdleMode;
 
 public class Intake extends SubsystemBase {
 
   private WPI_TalonFX m_intakeMotor;
   private CANSparkMax m_extenderMotor;
-  // private SparkMaxLimitSwitch m_inLimit;
-  // private SparkMaxLimitSwitch m_outLimit;
+  private SparkMaxLimitSwitch m_inLimit;
+  private SparkMaxLimitSwitch m_outLimit;
 
   public boolean toggle;
 
@@ -31,17 +30,16 @@ public class Intake extends SubsystemBase {
     m_intakeMotor = intakeMotor;
     m_extenderMotor = extenderMotor; 
 
-    
     m_extenderMotor.restoreFactoryDefaults();
 
     m_intakeMotor.setNeutralMode(NeutralMode.Brake);
     m_intakeMotor.setInverted(false);
     m_extenderMotor.setInverted(true);
     
-    // m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
-    // m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
-    // m_inLimit.enableLimitSwitch(true);
-    // m_outLimit.enableLimitSwitch(true);
+    m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_inLimit.enableLimitSwitch(true);
+    m_outLimit.enableLimitSwitch(true);
   }
 
   @Override

From 8e9f1d31cb41ffa09b0886edd79fae82839384ec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org>
Date: Fri, 18 Feb 2022 16:38:22 -0700
Subject: [PATCH 25/27] new hood controls

---
 src/main/java/frc4388/robot/RobotContainer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index c352bc2..e4324af 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -79,7 +79,7 @@ public class RobotContainer {
    */
   private void configureButtonBindings() {
     /* Driver Buttons */
-
+    
     /* Operator Buttons */
 
     // extends and retracts the extender 

From 820ed2ee9060fa61f3e604e562dd2665d5192ca0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org>
Date: Fri, 18 Feb 2022 17:25:21 -0700
Subject: [PATCH 26/27] boom boom bug fix

---
 build.gradle | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build.gradle b/build.gradle
index c1f07ee..7e60634 100644
--- a/build.gradle
+++ b/build.gradle
@@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.1.1"
+    id "edu.wpi.first.GradleRIO" version "2022.2.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

From 0baff66d9de2cacd9b17c7d2a928cc37ec1b325f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org>
Date: Fri, 18 Feb 2022 19:33:32 -0700
Subject: [PATCH 27/27] intake buttons (incomplete)

---
 src/main/java/frc4388/robot/RobotContainer.java | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index e4324af..1a60a13 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -91,10 +91,16 @@ public class RobotContainer {
     new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
         .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
         .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
-    
+    // revisit this later, not sure if we will still use this 
     new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
         .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.LEFT_BUMPER_BUTTON)
+      .whenPressed(() -> m_robotIntake.runExtender(false));
   }
 
   /**