it not shooting properly (im tweakin)

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

@@ -32,6 +32,10 @@ public class Intake extends SubsystemBase {
 
   private Shooter shooter;
 
+  private BooleanSupplier sup = () -> true;
+  private BooleanSupplier dup = () -> false;
+  
+
 
 
   /** Creates a new Intake. */
@@ -111,14 +115,11 @@ public class Intake extends SubsystemBase {
       pidIn();
     }
   }
-
   
   public void handoff() {
     intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED);
   }
 
- 
-
   public void stopIntakeMotors() {
     intakeMotor.set(0);
   }
@@ -130,6 +131,19 @@ public class Intake extends SubsystemBase {
   public RelativeEncoder getEncoder() {
     return pivot.getEncoder();
   }
+
+  public boolean getForwardLimitSwitchState() {
+    return forwardLimit.isPressed();
+  }
+
+  public boolean getReverseLimitSwitchState() {
+    return reverseLimit.isPressed();
+  }
+
+  public boolean getIntakeLimitSwtichState() {
+    return intakeforwardLimit.isPressed();
+  }
+
   public void setVoltage(double voltage) {
    pivot.setVoltage(voltage);
   }
@@ -143,7 +157,7 @@ public class Intake extends SubsystemBase {
   }
 
   public void resetPosition1() {
-    if(forwardLimit.isPressed() == true) {
+    if(forwardLimit.isPressed()) {
       resetPostion();
     }
   }
@@ -157,7 +171,11 @@ public class Intake extends SubsystemBase {
   }
 
   public BooleanSupplier getArmFowardLimitState() {
-    return forwardLimit::isPressed;
+    if(forwardLimit.isPressed()) {
+      return sup;
+    } else {
+      return dup;
+    }
   }
 
   @Override

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

@@ -7,6 +7,8 @@
 
 package frc4388.robot.subsystems;
 
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -20,44 +22,69 @@ import frc4388.utility.LEDPatterns;
  */
 public class LED extends SubsystemBase {
 
-  private LEDPatterns m_currentPattern;
-  private Spark m_LEDController;
-
+  static AddressableLED m_led;
+  static AddressableLEDBuffer m_ledBuffer;
+  static LED m_self;
   /**
    * Add your docs here.
    */
-  public LED(Spark LEDController){
-    m_LEDController = LEDController;
-    setPattern(LEDConstants.DEFAULT_PATTERN);
-    updateLED();
+
+  public LED(){
+    if(m_self != null)
+      return;
+    m_led = new AddressableLED(9);
+    m_ledBuffer = new AddressableLEDBuffer(130);
+    m_led.setLength(m_ledBuffer.getLength());
+    m_led.setData(m_ledBuffer);
+    m_led.start();
     System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
   }
-
+  public static LED getInstance() {
+    if(m_self == null)
+      m_self = new LED();
+    return m_self;
+  }
   @Override
   public void periodic(){
-    SmartDashboard.putNumber("LED", m_currentPattern.getValue());
+    //gamermode();
+    //SmartDashboard.putNumber("LED", m_currentPattern.getValue());
+    return;
+  }
+  static int firstcolor = 0;
+  static void gamermode() {
+      for(int i = 0; i < m_ledBuffer.getLength(); i++) {
+          final int hue = (firstcolor + (i * 180 / m_ledBuffer.getLength())) % 180;
+          setLEDHSV(i, hue, 255, 128);
+      }
+      firstcolor +=3;
+      firstcolor %= 180;
+  }
+  /**
+   * Add your docs here.
+   */
+  public static void updateLED (){
+    gamermode();
+   // m_LEDController.set(m_currentPattern.getValue());
   }
 
   /**
    * Add your docs here.
    */
-  public void updateLED(){
-    m_LEDController.set(m_currentPattern.getValue());
+  public static void setLEDRGB(int lednum, int r, int g, int b){
+    m_ledBuffer.setRGB(lednum, r, g, b);
+    //m_currentPattern = pattern;
+   // m_LEDController.set(m_currentPattern.getValue());
   }
-
-  /**
-   * Add your docs here.
-   */
-  public void setPattern(LEDPatterns pattern){
-    m_currentPattern = pattern;
-    m_LEDController.set(m_currentPattern.getValue());
+  public static void setLEDHSV(int lednum, int hue, int sat, int val){
+    m_ledBuffer.setRGB(lednum, hue, sat, val);
+    //m_currentPattern = pattern;
+   // m_LEDController.set(m_currentPattern.getValue());
   }
-
   /**
    * Add your docs here.
    * @return
    */
-  public LEDPatterns getPattern() {
-    return m_currentPattern;
+  public AddressableLEDBuffer getBuffer() {
+    return m_ledBuffer;
   }
 }

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

@@ -4,6 +4,8 @@
 
 package frc4388.robot.subsystems;
 
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 
@@ -23,8 +25,8 @@ public class Shooter extends SubsystemBase {
     leftShooter  = leftTalonFX;
     rightShooter = rightTalonFX;
 
-    leftShooter.setNeutralMode(NeutralModeValue.Coast);
-    rightShooter.setNeutralMode(NeutralModeValue.Coast);
+    leftShooter.setNeutralMode(NeutralModeValue.Brake);
+    rightShooter.setNeutralMode(NeutralModeValue.Brake);
   }
 
   public void spin() {
@@ -40,9 +42,15 @@ public class Shooter extends SubsystemBase {
     spin(0.d);
   }
 
+  public void idle() {
+    spin(ShooterConstants.SHOOTER_IDLE);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue());
+    SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue());
     
   }
 }