Update

src/main/java/frc4388/robot/Constants.java

@@ -33,7 +33,7 @@ public final class Constants {
         public static final double CORRECTION_MIN = 10;
         public static final double CORRECTION_MAX = 50;
     
-        public static final double SLOW_SPEED = 0.8;
+        public static final double SLOW_SPEED = 0.4;
         public static final double FAST_SPEED = 1.0;
         public static final double TURBO_SPEED = 4.0;
     

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

@@ -78,8 +78,8 @@ public class RobotContainer {
     private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
 
     private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotIntake.talonPIDIn()),
+        new InstantCommand(() -> m_robotIntake.talonPIDIn())
-        new InstantCommand(() -> m_robotShooter.spin())
+        //new InstantCommand(() -> m_robotShooter.spin())
     );
 
     // private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
@@ -125,10 +125,10 @@ public class RobotContainer {
     );
 
     /* Autos */
-    private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
+    private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"); //new InstantCommand();
     private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
     private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
-    private Command interrupt = new InstantCommand(() -> {}, m_robotSwerveDrive, m_robotIntake, m_robotShooter);
+    private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
 
     private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
@@ -159,6 +159,11 @@ public class RobotContainer {
         taxi.asProxy()
     );
 
+    private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
+        interrupt,
+        new InstantCommand(() -> m_robotIntake.talonPIDIn())
+    );
+
     private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
         new WaitCommand(1).asProxy(),
@@ -272,11 +277,11 @@ public class RobotContainer {
         
        //?  /* Operator Buttons */
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
             .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
             .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
 
@@ -311,9 +316,12 @@ public class RobotContainer {
         new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
         
+        // new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
+        //     .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
+        //     .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
+
         new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
+            .onTrue(emergencyRetract);
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
 
 
     }

src/main/java/frc4388/utility/RobotGyro.java

@@ -99,7 +99,7 @@ public class RobotGyro implements Gyro {
         resetZeroValues();
 
         if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(180);
+            m_pigeon.setYaw(0);
         } else {
             m_navX.reset();
         }