talon intake

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

@@ -67,7 +67,7 @@ public class RobotContainer {
     private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
 
     private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotIntake.pidIn()),
+        new InstantCommand(() -> m_robotIntake.talonPIDIn()),
         new InstantCommand(() -> m_robotShooter.spin())
     );
 
@@ -77,12 +77,12 @@ public class RobotContainer {
 
     private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
+        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
     );
 
     private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
+        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
     );
 
     /* Autos */
@@ -93,20 +93,20 @@ public class RobotContainer {
     private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
         new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
         new WaitCommand(1).asProxy(),
         new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
         new WaitCommand(1).asProxy(),
         new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
     );
     private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup (
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
         new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
         new WaitCommand(1).asProxy(),
         new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
+        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
     );
     private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
         startLeftMoveRight.asProxy(),
@@ -121,10 +121,10 @@ public class RobotContainer {
     private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
         new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
         new WaitCommand(1).asProxy(),
         new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
         intakeToShootStuff.asProxy(),
         new WaitCommand(1).asProxy(),
         new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt1.txt"),
@@ -134,10 +134,10 @@ public class RobotContainer {
         new WaitCommand(0.5).asProxy(),
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
         new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
         new WaitCommand(1).asProxy(),
         new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
+        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
     );
     private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
             .addOption("Taxi Auto", taxi.asProxy())
@@ -213,25 +213,25 @@ public class RobotContainer {
         /* Operator Buttons */
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
+            .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
+            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
+            .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
+            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
+            .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
+            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
 
 
         // Override Intake Position encoder: out
         new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
+            .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
 
         // Override Intake Position encoder: in
         new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
+            .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
 
         //Spin Shooter Motors
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
@@ -245,7 +245,7 @@ public class RobotContainer {
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
             .onTrue(i)
-            .onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
+            .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
         
         
     }

src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java

@@ -38,15 +38,15 @@ public class ArmIntakeIn extends Command {
 
   // Returns true when the command should end.
   @Override
-  public boolean isFinished() 
+  public boolean isFinished() {
-  {
+    return robotIntake.getTalonIntakeLimitSwitchState();
-    if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
+    // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
-    {
+    // {
-      return !true==true;
+    //   return !true==true;
-    } 
+    // } 
-    else 
+    // else 
-    {
+    // {
-      return !false==!(!(true));
+    //   return !false==!(!(true));
-    }
+    // }
   }
 }

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

@@ -148,6 +148,17 @@ public class Intake extends SubsystemBase {
     return r;
   }
 
+  public void talonSetPivotEncoderPosition(int val) {
+    talonPivot.setPosition(val);
+  }
+  
+  public void talonStopIntakeMotors() {
+    talonIntake.set(0);
+  }
+
+  public void talonStopArmMotor() {
+    talonPivot.set(0);
+  }
 
 
   // ! NEO Methods