From 9357a6e4d51de09904061f33f5be4fa3d64beda3 Mon Sep 17 00:00:00 2001
From: C4llSiqn <zachwilke@icloud.com>
Date: Wed, 3 Apr 2024 20:13:23 -0600
Subject: [PATCH 1/4] Code Cleanup, Remove old autos in container. Refactor
 Intake to be talon only.

---
 .../java/frc4388/robot/RobotContainer.java    | 417 ++++--------------
 src/main/java/frc4388/robot/RobotMap.java     |   4 -
 .../commands/Autos/ArmIntakeInTimeout.java    |  10 +-
 .../robot/commands/Autos/AutoBalance.java     |   2 +-
 .../robot/commands/Intake/ArmIntakeIn.java    |   6 +-
 .../java/frc4388/robot/subsystems/Intake.java | 312 ++-----------
 .../frc4388/utility/DualJoystickButton.java   |  22 +
 7 files changed, 164 insertions(+), 609 deletions(-)
 create mode 100644 src/main/java/frc4388/utility/DualJoystickButton.java

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index f0429f8..3e0325c 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -7,14 +7,20 @@
 
 package frc4388.robot;
 
-import org.opencv.video.Video;
-
-import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.math.geometry.Translation2d;
+// Drive Systems
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import frc4388.utility.controller.XboxController;
+import frc4388.utility.controller.DeadbandedXboxController;
+import frc4388.robot.Constants.OIConstants;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+
+// Commands
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
@@ -22,30 +28,28 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc4388.robot.Constants.IntakeConstants;
-import frc4388.robot.Constants.OIConstants;
-import frc4388.robot.Constants.ShooterConstants;
-//import frc4388.robot.commands.Autos.AutoAlign;
+
+// Autos
 import frc4388.robot.commands.Autos.PlaybackChooser;
 import frc4388.robot.commands.Swerve.JoystickPlayback;
 import frc4388.robot.commands.Swerve.JoystickRecorder;
+import frc4388.utility.controller.VirtualController;
 import frc4388.robot.commands.Swerve.neoJoystickPlayback;
 import frc4388.robot.commands.Swerve.neoJoystickRecorder;
 import frc4388.robot.commands.Intake.ArmIntakeIn;
-import frc4388.robot.commands.Autos.ArmIntakeInAuto;
+//import frc4388.robot.commands.Autos.AutoAlign;
+
+// Subsystems
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Limelight;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.subsystems.Intake;
+
+// Utilites
 import frc4388.utility.DeferredBlock;
 import frc4388.utility.configurable.ConfigurableString;
-import frc4388.utility.controller.DeadbandedXboxController;
-import frc4388.utility.controller.VirtualController;
-import frc4388.utility.controller.XboxController;
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -57,10 +61,12 @@ import frc4388.utility.controller.XboxController;
 public class RobotContainer {
     /* RobotMap */
     private final RobotMap m_robotMap = new RobotMap();
-
+    
     /* Subsystems */
     private final LED m_robotLED = new LED();
 
+    private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
+
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
                                                                   m_robotMap.rightFront,
                                                                   m_robotMap.leftBack,
@@ -74,14 +80,11 @@ public class RobotContainer {
 
     private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
 
-    //private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
-
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
     private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(2);
     
-    private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
 
     /* Virtual Controllers */
     private final VirtualController m_virtualDriver = new VirtualController(0);
@@ -91,23 +94,12 @@ public class RobotContainer {
     private Command interrupt = new InstantCommand(() -> {}, m_robotIntake, m_robotShooter);
 
     private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotIntake.talonPIDIn()),
+        new InstantCommand(() -> m_robotIntake.PIDIn()),
         new InstantCommand(() -> m_robotShooter.idle())
         // new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0)).andThen(new WaitCommand(0.2)).andThen(new InstantCommand(() -> m_driverXbox.setRumble(RumbleType.kRightRumble, 0.0))),
         // new InstantCommand(() -> m_robotShooter.spin())
     );
 
-    // private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
-    //     new InstantCommand(() -> m_robotShooter.spin()),
-    //     new InstantCommand(() -> m_robotIntake.handoff())
-    // );
- 
-    // private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
-    //     new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
-    //     new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
-    //     new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
-    // );
-
 
     // ! Teleop Commands
 
@@ -118,7 +110,7 @@ public class RobotContainer {
         //autoAlign,
         new InstantCommand(() -> m_robotShooter.spin()),
         new WaitCommand(3.0),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
         new WaitCommand(3.0),
         new InstantCommand(() -> m_robotShooter.idle())
         // new InstantCommand(() -> autoAlign.reverse()),
@@ -134,7 +126,7 @@ public class RobotContainer {
     private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
         new WaitCommand(0.75),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
+        new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
     );
 
     private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
@@ -144,8 +136,8 @@ public class RobotContainer {
 
     private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
         interrupt,
-        new InstantCommand(() -> m_robotIntake.talonPIDIn(), m_robotIntake),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
+        new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
     );
 
     private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
@@ -154,137 +146,24 @@ public class RobotContainer {
     );
 
     // ! /*  Autos */
-    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 taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
     private String lastAutoName = "final_red_center_4note_taxi.auto";
     private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
     private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive, 
-    lastAutoName, // () -> autoplaybackName.get(),
+    () -> autoplaybackName.get(), // lastAutoName
            new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
-           true, true);
+           true, false);
 
 
-    //Help Simplify Shooting
-    // private SequentialCommandGroup pullInArmtoShoot = new SequentialCommandGroup(
-    //     new InstantCommand(() -> m_robotIntake.talonPIDIn()),
-    //     new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-    //     new WaitCommand(1.4).asProxy(),
-    //     new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-    //     new WaitCommand(0.5),
-    //     new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-    //     new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
-    // );
-
-    private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        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.talonHandoff(), m_robotIntake),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
-    );
-    private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
-        startLeftMoveRight.asProxy(),
-        ejectToShoot.asProxy(),
-        taxi.asProxy()
-    );
-    private SequentialCommandGroup oneNoteStartingFromRight = new SequentialCommandGroup(
-        startRightMoveLeft.asProxy(),
-        ejectToShoot.asProxy(),
-        taxi.asProxy()
-    );
-
-
-    private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
-        new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
-        new InstantCommand(() -> m_robotIntake.talonPIDIn()),
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1.4).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(0.5),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
-        new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
-        // new WaitCommand(1).asProxy(),
-        // new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt2.txt"),
-        // new WaitCommand(0.5).asProxy(),
-        // new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        // new WaitCommand(1).asProxy(),
-        // new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        // new WaitCommand(1).asProxy(),
-        // new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        // new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
-    );
-
-    private SequentialCommandGroup stayTwoNoteStartingFromSpeaker = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
-        new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
-        new InstantCommand(() -> m_robotIntake.talonPIDIn()),
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1.4).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(0.5),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
-    );
-
-    private SequentialCommandGroup threeNoteStartingFromSpeaker = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(1).asProxy(),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
-        new ArmIntakeInAuto(m_robotIntake, m_robotShooter, m_robotSwerveDrive),
-        new InstantCommand(() -> m_robotIntake.talonPIDIn()),
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1.4).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(0.5),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
-        //? Create Another Parallel Command Group :(
-        new InstantCommand(() -> m_robotIntake.talonPIDIn()),
-        new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
-        new WaitCommand(1.4).asProxy(),
-        new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
-        new WaitCommand(0.5),
-        new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
-        new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
-    );
-
-    private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
-            .addOption("Taxi Auto", taxi.asProxy())
-            .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
-            .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
-            // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
-            // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
-            .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
-            .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
-            .buildDisplay();
+    // private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
+    //         .addOption("Taxi Auto", taxi.asProxy())
+    //         .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
+    //         .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
+    //         // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
+    //         // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
+    //         .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
+    //         .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
+    //         .buildDisplay();
     
     
 
@@ -341,14 +220,14 @@ public class RobotContainer {
 
         // ? /* Driver Buttons */
 
-        new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
+        DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
 
-        new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
+        DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
             .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
 
-        new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
+        DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
             .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
 
@@ -434,48 +313,48 @@ public class RobotContainer {
         
        //?  /* Operator Buttons */
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.PIDIn()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
+            .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
             
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
              .onTrue(emergencyRetract);
 
 
         // Override Intake Position encoder: out
         new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
+            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
 
         // Override Intake Position encoder: in
         new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
+            .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
             .onFalse(turnOffShoot);
 
 
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
             .onTrue(i)
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
+            .onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
         
         //spins up shooter, no wind down
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
         
-        // new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
+        // DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), 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)
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
             .onTrue(emergencyRetract);
 
         new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
@@ -490,156 +369,36 @@ public class RobotContainer {
             .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
 
     }
+    
+    /**
+     * This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}.
+     * Please use {@link RobotContainer#DualJoystickButton} for standard buttons.
+     */
+    private void configureVirtualButtonBindings() {
 
-   private void configureVirtualButtonBindings() {
-        
         // ? /* Driver Buttons */
-
-        new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
-
-        new JoystickButton(getVirtualDriverController(), XboxController.BACK_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
-            .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
-
-        new JoystickButton(getVirtualDriverController(), XboxController.START_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
-            .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
-
-
-       // *  /* D-Pad Stuff */
-    //    new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
-    //         .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
-    //                                                                            new Translation2d(0, 0),
-    //                                                                            true)))
-    //         .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0), 
-    //                                                                             new Translation2d(0, 0), 
-    //                                                                             true)));
-
-    //    new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
-    //         .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
-    //                                                                            new Translation2d(0, 0),
-    //                                                                            true)))
-    //         .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0), 
-    //                                                                             new Translation2d(0, 0), 
-    //                                                                             true)));
-
-    //    new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
-    //         .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
-    //                                                                            new Translation2d(0, 0),
-    //                                                                            true)))
-    //         .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0), 
-    //                                                                             new Translation2d(0, 0), 
-    //                                                                             true)));
-
-    //    new Trigger(() -> getVirtualDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
-    //         .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
-    //                                                                            new Translation2d(0, 0),
-    //                                                                            true)))
-    //         .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0), 
-    //                                                                             new Translation2d(0, 0), 
-    //                                                                             true)));
         
-        // ! /* Auto Recording */
-        new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
-           .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
-                        new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
-                                           () -> autoplaybackName.get()))
-           .onFalse(new InstantCommand());
-        
-        new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
-           .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
-           () -> autoplaybackName.get(),
-           new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
-           true, false))
-           .onFalse(new InstantCommand());
+        /* Notice: the following buttons have not been replicated
+         * Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
+         * Swerve Drive Rotation Gear Shifts           : Same reason as Slow and Fast mode.
+         * Auto Recording controls                     : We don't want an Null Ouroboros for an auto.
+         */
 
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
-                //    .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
-                //                                    () -> getDeadbandedDriverController().getLeftX(),
-                //                                    () -> getDeadbandedDriverController().getLeftY(),
-                //                                    () -> getDeadbandedDriverController().getRightX(),
-                //                                    () -> getDeadbandedDriverController().getRightY(),
-                //                                    "Taxi.txt"))
-                //    .onFalse(new InstantCommand());
+        // ? /* Operator Buttons */
 
-                // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
-                //    .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
-                //    .onFalse(new InstantCommand()); 
-        // ! /* Speed */
-        new JoystickButton(getVirtualDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
-            .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
-          // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
-        
-        new JoystickButton(getVirtualDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
+        /* Notice: the following buttons have not been replicated
+         * Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
+         *                                    We don't need it in an auto.
+         * Climbing controls                : We don't need to climb in auto.
+         */
 
-        new Trigger(() -> getVirtualDriverController().getPOV() == 270)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
+        // new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
+        //     .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
+        //     .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
 
-        new Trigger(() -> getVirtualDriverController().getPOV() == 90)
-            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
-        
-        // new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
-        //     .whileTrue(new InstantCommand(() -> 
-        //     m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
-        //                                       new Translation2d(0, 0),
-        //                         true), m_robotSwerveDrive));
-
-        
-       //?  /* Operator Buttons */
-
-        new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
-
-        new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
-
-        new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
-            
-        new JoystickButton(getVirtualOperatorController(), XboxController.B_BUTTON)
-             .onTrue(emergencyRetract);
-
-
-        // Override Intake Position encoder: out
-        new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-55), m_robotIntake));
-
-        // Override Intake Position encoder: in
-        new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-6.2), m_robotIntake));
-
-        new JoystickButton(getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
-            .onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
-            .onFalse(turnOffShoot);
-
-
-        new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
-            .onTrue(i)
-            .onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
-        
-        //spins up shooter, no wind down
-        new JoystickButton(getVirtualOperatorController(), 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(getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
-            .onTrue(emergencyRetract);
-
-        new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
-            .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
-            .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
-
-        new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
-            .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
-            .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
+        // new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
+        //     .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
+        //     .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
 
         new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
             .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
@@ -657,6 +416,16 @@ public class RobotContainer {
         //return playbackChooser.getCommand();
     }
 
+    /**
+     * A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
+     * @param joystickA A controller
+     * @param joystickB A controller
+     * @param buttonNumber The button to bind to
+     */
+    public Trigger DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
+        return new Trigger(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
+    }
+
     /**
      * Add your docs here.
      */
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index ef03f99..512b84c 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -13,12 +13,8 @@ import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_Pigeon2;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.revrobotics.CANSparkLowLevel;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
 import frc4388.robot.Constants.ShooterConstants;
diff --git a/src/main/java/frc4388/robot/commands/Autos/ArmIntakeInTimeout.java b/src/main/java/frc4388/robot/commands/Autos/ArmIntakeInTimeout.java
index 1e1e523..5a40e2a 100644
--- a/src/main/java/frc4388/robot/commands/Autos/ArmIntakeInTimeout.java
+++ b/src/main/java/frc4388/robot/commands/Autos/ArmIntakeInTimeout.java
@@ -29,23 +29,23 @@ public class ArmIntakeInTimeout extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    robotIntake.talonPIDOut();
-    robotIntake.talonSpinIntakeMotor();
+    robotIntake.PIDOut();
+    robotIntake.spinIntakeMotor();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     if(interrupted) {
-      robotIntake.talonPIDIn();
-      robotIntake.talonStopIntakeMotors();
+      robotIntake.PIDIn();
+      robotIntake.stopIntakeMotors();
     }
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return robotIntake.getTalonIntakeLimitSwitchState();
+    return robotIntake.getIntakeLimitSwitchState();
     // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
     // {
     //   return !true==true;
diff --git a/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java b/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
index 312325e..9b46468 100644
--- a/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
+++ b/src/main/java/frc4388/robot/commands/Autos/AutoBalance.java
@@ -43,7 +43,7 @@ public class AutoBalance extends PID {
 	public void runWithOutput(double output) {
 		double out2 = MathUtil.clamp(output / 40, -59, 0);
 		if (Math.abs(getError()) < 3) out2 = 0;
-    intake.talonPIDPosition(out2);
+    intake.PIDPosition(out2);
   }
 
 }
diff --git a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
index 78c558b..42f9dfc 100644
--- a/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
+++ b/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
@@ -29,8 +29,8 @@ public class ArmIntakeIn extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    robotIntake.talonPIDOut();
-    robotIntake.talonSpinIntakeMotor();
+    robotIntake.PIDOut();
+    robotIntake.spinIntakeMotor();
   }
 
   // Called once the command ends or is interrupted.
@@ -40,7 +40,7 @@ public class ArmIntakeIn extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return robotIntake.getTalonIntakeLimitSwitchState();
+    return robotIntake.getIntakeLimitSwitchState();
     // if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0))) 
     // {
     //   return !true==true;
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index abd12fc..7d7294c 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -4,116 +4,30 @@
 
 package frc4388.robot.subsystems;
 
-import java.util.function.BooleanSupplier;
-
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
-import com.ctre.phoenix.motorcontrol.can.TalonSRXPIDSetConfiguration;
-import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.PositionVoltage;
-import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.ForwardLimitTypeValue;
-import com.ctre.phoenix6.signals.ForwardLimitValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.ctre.phoenix6.signals.ReverseLimitTypeValue;
-import com.ctre.phoenix6.signals.ReverseLimitValue;
-import com.revrobotics.CANSparkBase;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.SparkLimitSwitch;
-import com.revrobotics.SparkPIDController;
-import com.revrobotics.RelativeEncoder;
-import edu.wpi.first.wpilibj.CAN;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
-import edu.wpi.first.wpilibj.motorcontrol.Talon;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.robot.Constants;
 import frc4388.robot.Constants.IntakeConstants;
-import frc4388.robot.commands.PID;
 import frc4388.utility.Gains;
-import frc4388.utility.configurable.ConfigurableDouble;
 
 public class Intake extends SubsystemBase {
-  
-  //NEO
-  private CANSparkMax intakeMotor;
-  private CANSparkMax pivot;
-  private SparkPIDController m_spedController;
-  private SparkLimitSwitch forwardLimit;
-  private SparkLimitSwitch reverseLimit;
-  private SparkLimitSwitch intakeforwardLimit;  
-  private SparkLimitSwitch intakereverseLimit;
-
-  //Talon
-  private TalonFX talonIntake;
-  private TalonFX talonPivot;
-  private CANcoder encoder;
-
-  private boolean r;
-
-  private HardwareLimitSwitchConfigs l;
-
-  TalonFXConfiguration doodooController = new TalonFXConfiguration();
-
+  private TalonFX intakeMotor;
+  private TalonFX pivotMotor;
   public static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
-  private ConfigurableDouble outtakeSpeed = new ConfigurableDouble("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
-  private BooleanSupplier sup = () -> true;
-  private BooleanSupplier dup = () -> false;
-
-  private double smartDashboardOuttakeValue;
 
   /** Creates a new Intake. */
-  //For NEO
-  // public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
-  //   this.intakeMotor = intakeMotor;
-  //   this.pivot = pivot;
+  public Intake(TalonFX intakeMotor, TalonFX pivotMotor) {
+    this.intakeMotor = intakeMotor;
+    this.pivotMotor = pivotMotor;
 
-  //   pivot.restoreFactoryDefaults();
-  //   //pivot.setInverted(true);
+    intakeMotor.getConfigurator().apply(new TalonFXConfiguration());
+    pivotMotor.getConfigurator().apply(new TalonFXConfiguration());
 
-  //   forwardLimit = pivot.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
-  //   reverseLimit = pivot.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
-  //   forwardLimit.enableLimitSwitch(true);
-  //   reverseLimit.enableLimitSwitch(true);
-
-  //   intakeMotor.restoreFactoryDefaults();
-    
-  //   intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
-  //   intakereverseLimit = intakeMotor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
-  //   intakeforwardLimit.enableLimitSwitch(true);
-  //   intakereverseLimit.enableLimitSwitch(false);
-
-  //   //Arm PID
-  //   m_spedController = pivot.getPIDController();
-  //   m_spedController.setP(armGains.kP);
-  //   m_spedController.setI(armGains.kI);
-  //   m_spedController.setD(armGains.kD);
-
-  //   SmartDashboard.putNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
-  // }
-
-  //For Talon
-  public Intake(TalonFX talonIntake, TalonFX talonPivot) {
-    this.talonIntake = talonIntake;
-    this.talonPivot = talonPivot;
-
-    talonIntake.getConfigurator().apply(new TalonFXConfiguration());
-    talonPivot.getConfigurator().apply(new TalonFXConfiguration());
-
-    talonIntake.setNeutralMode(NeutralModeValue.Brake);
-    talonPivot.setNeutralMode(NeutralModeValue.Brake);
-
-    // talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
-    // talonIntake.getConfigurator().apply(new HardwareLimitSwitchConfigs());
-
-  
-    
-    // doodooController.Slot0.kP = armGains.kP;
-    // doodooController.Slot1.kI = armGains.kI;
-    // doodooController.Slot2.kD = armGains.kD;
+    intakeMotor.setNeutralMode(NeutralModeValue.Brake);
+    pivotMotor.setNeutralMode(NeutralModeValue.Brake);
 
     // in init function, set slot 0 gains
     var slot0Configs = new Slot0Configs();
@@ -121,222 +35,76 @@ public class Intake extends SubsystemBase {
     slot0Configs.kI = 0.0; // no output for integrated error
     slot0Configs.kD = 0.21; // A velocity of 1 rps results in 0.1 V output
 
-    talonPivot.getConfigurator().apply(slot0Configs);
-
-    
+    pivotMotor.getConfigurator().apply(slot0Configs);
   }
 
   // ! Talon Methods
-  public void talonPIDIn() {
-    PositionVoltage request = new PositionVoltage(-53);
-    talonPivot.setControl(request.withPosition(0)); 
+  public void PIDIn() {
+    PIDPosition(0);
   }
 
-  public void talonPIDOut() {
-    PositionVoltage request = new PositionVoltage(0);
-    talonPivot.setControl(request.withPosition(-53)); 
+  public void PIDOut() {
+    PIDPosition(-53);
   }
 
-  public void talonPIDPosition(double out2) {
-    PositionVoltage request = new PositionVoltage(out2);
-    talonPivot.setControl(request);
+  public void PIDPosition(double pos) {
+    PositionVoltage request = new PositionVoltage(pos);
+    pivotMotor.setControl(request);
   }
 
-  public void talonHandoff() {
-    talonIntake.set(-outtakeSpeed.get());
+  public void handoff() {
+    intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
   }
 
-  public void talonSpinIntakeMotor() {
-    talonIntake.set(IntakeConstants.INTAKE_SPEED);
+  public void spinIntakeMotor() {
+    intakeMotor.set(IntakeConstants.INTAKE_SPEED);
   }
 
-  public void talonSpinIntakeMotor(double speed) {
-    talonIntake.set(speed);
+  public void spinIntakeMotor(double speed) {
+    intakeMotor.set(speed);
   }
 
-  public boolean getTalonIntakeLimitSwitchState() {
-    if(r = talonIntake.getForwardLimit().getValue().value == 0) {
-      return true;
-    }
-    return false;
+  public boolean getIntakeLimitSwitchState() {
+    return intakeMotor.getForwardLimit().getValue().value == 0;
   }
 
-  public void talonSetPivotEncoderPosition(double val) {
-    talonPivot.setPosition(val);
+  public void setPivotEncoderPosition(double val) {
+    pivotMotor.setPosition(val);
   }
   
-  public void talonStopIntakeMotors() {
-    talonIntake.set(0);
+  public void stopIntakeMotors() {
+    intakeMotor.set(0);
   }
 
-  public void talonStopArmMotor() {
-    talonPivot.set(0);
+  public void stopArmMotor() {
+    pivotMotor.set(0);
+  }
+
+  public void stop() {
+    intakeMotor.set(0);
+    pivotMotor.set(0);
   }
 
   public double getArmPos() {
-    return talonPivot.getPosition().getValue();
+    return pivotMotor.getPosition().getValue();
   }
 
   public void resetArmPosition() {
-    if(getTalonIntakeLimitSwitchState()){
+    if (getIntakeLimitSwitchState()) {
      // talonPivot.setPosition(0);
     }
   }
 
   public void ampPosition() {
-    PositionVoltage request = new PositionVoltage(-0);
-    talonPivot.setControl(request.withPosition(-59)); //TODO: Find actual value
+    PIDPosition(-59); //TODO: Find actual value
   } 
 
   public void ampOuttake(double speed) {
-    talonSpinIntakeMotor(speed);
+    spinIntakeMotor(speed);
   }
 
-
-  // ! NEO Methods
-  //hanoff
-  // public void spinIntakeMotor() {
-  //   intakeMotor.set(IntakeConstants.INTAKE_SPEED);
-  // }
-
-  // //Rotate robot in for handoff
-  // public void rotateArmIn() {
-  //   pivot.set(IntakeConstants.PIVOT_SPEED);
-  // }
-
-  // //Rotates robot out for intake
-  // public void rotateArmOut() {
-  //   pivot.set(-IntakeConstants.PIVOT_SPEED);
-
-  // }
-
-  // public void pidIn() {
-  //   m_spedController.setReference(2.5, CANSparkMax.ControlType.kPosition);
-  //   //SmartDashboard.putNumber("Velocity Output", pivot.getEncoder().getVelocity());
-  // }
-  
-  // public void pidOut() {
-  //   m_spedController.setReference(-53, CANSparkMax.ControlType.kPosition);
-  // }
-
-  // public void limitNote() {
-  //   if (intakeforwardLimit.isPressed()) {
-  //     rotateArmIn2();
-  //   } else {
-  //     spinIntakeMotor();
-  //   }
-  // }
-
-  // public void rotateArmOut2() {
-  //   if(reverseLimit.isPressed()){
-  //     stopArmMotor();
-  //   } else {
-  //     pidOut();
-  //   }
-  // }
-
-  // public void rotateArmIn2() {
-  //   if(forwardLimit.isPressed()){
-  //     stopArmMotor();
-  //   } else {
-  //     pidIn();
-  //   }
-  // }
-  
-  // public void handoff() {
-  //   intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
-  // }
-
-  // public void handoff2() {
-  //   if(intakeforwardLimit.isPressed()) {
-  //     intakeMotor.set(-smartDashboardOuttakeValue);
-  //   } else {
-  //     intakeMotor.set(-smartDashboardOuttakeValue);
-  //   }
-  // }
-
-  // public void stopIntakeMotors() {
-  //   intakeMotor.set(0);
-  // }
-
-  // public void stopArmMotor() {
-  //   pivot.set(0);
-  // }
-
-  // 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);
-  // }
-
-  // public double getVelocity() {
-  //   return pivot.getEncoder().getVelocity();
-  // }
-
-  // public void setPivotEncoderPosition(int val) {
-  //   pivot.getEncoder().setPosition(val);
-  // }
-
-  // public void resetPosition() {
-  //   if(forwardLimit.isPressed()) {
-  //     setPivotEncoderPosition(0);
-  //   }
-  // }
-
-  // public double getPos() {
-  //   return pivot.getEncoder().getPosition();
-  // }
-
-  // public double getIntakeVelocity() {
-  //   return intakeMotor.getEncoder().getVelocity();
-  // }
-
-  // public void rotateArm() {
-
-  // }
-
-  // public BooleanSupplier getArmFowardLimitState() {
-  //   if(forwardLimit.isPressed()) {
-  //     return sup;
-  //   } else {
-  //     return dup;
-  //   }
-  // }
-
-  // public void changeIntakeNeutralState() {
-  //   if(forwardLimit.isPressed()) {
-  //     intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast);
-  //   }
-  // }
-
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
-    // SmartDashboard.putNumber("Vel Output", getVelocity());
-    // SmartDashboard.putNumber("Position", getPos());
-    // resetPosition();
-    // changeIntakeNeutralState();
-
     resetArmPosition();
-
-   // SmartDashboard.putNumber("Pivot Position", getArmPos());
-
-    //smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
-
-    //SmartDashboard.putBoolean("Limit Switch State", getTalonIntakeLimitSwitchState());
   }
 }
diff --git a/src/main/java/frc4388/utility/DualJoystickButton.java b/src/main/java/frc4388/utility/DualJoystickButton.java
new file mode 100644
index 0000000..e4ef5ed
--- /dev/null
+++ b/src/main/java/frc4388/utility/DualJoystickButton.java
@@ -0,0 +1,22 @@
+package frc4388.utility;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+
+
+/**
+ * A button binding for two controllers, preferably an {@link frc4388.utility.controller.DeadbandedXboxController Xbox Controller} and {@link frc4388.utility.controller.VirtualController Virtual Xbox Controller}
+ * @author Zachary Wilke
+ */
+public class DualJoystickButton extends Trigger {
+
+    /**
+     * Creates an Button binding on two controllers
+     * @param joystickA A controller
+     * @param joystickB A controller
+     * @param buttonNumber The button to bind to
+     */
+    public DualJoystickButton(GenericHID joystickA, GenericHID joystickB, int buttonNumber) {
+        super(() -> (joystickA.getRawButton(buttonNumber) || joystickB.getRawButton(buttonNumber)));
+    }
+}

From 6d5655356502782fc0ec43c3fe11c8f9e78d890c Mon Sep 17 00:00:00 2001
From: C4llSqin <83995467+C4llSqin@users.noreply.github.com>
Date: Tue, 7 May 2024 16:38:30 -0600
Subject: [PATCH 2/4] patches

---
 .github/workflows/gradle.yml                    |   4 ++--
 autos/final_1note_stationary.auto               | Bin 0 -> 11345 bytes
 autos/final_red_center_4note_taxi.auto          | Bin 0 -> 76469 bytes
 .../utility/controller/VirtualController.java   |   2 +-
 4 files changed, 3 insertions(+), 3 deletions(-)
 create mode 100644 autos/final_1note_stationary.auto
 create mode 100644 autos/final_red_center_4note_taxi.auto

diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index 9eaf0d0..7d89e58 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -13,10 +13,10 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v1
-    - name: Set up JDK 1.8
+    - name: Set up JDK 17
       uses: actions/setup-java@v1
       with:
-        java-version: 1.12
+        java-version: 17
     - name: Change wrapper permissions
       run: chmod +x ./gradlew
     - name: Build with Gradle
diff --git a/autos/final_1note_stationary.auto b/autos/final_1note_stationary.auto
new file mode 100644
index 0000000000000000000000000000000000000000..f83851cdd1bb4f57568177ac80723b4358c8981a
GIT binary patch
literal 11345
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literal 0
HcmV?d00001

diff --git a/autos/final_red_center_4note_taxi.auto b/autos/final_red_center_4note_taxi.auto
new file mode 100644
index 0000000000000000000000000000000000000000..b20ab8403b4d97fd6083b9c3b6e3e2d554f754de
GIT binary patch
literal 76469
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literal 0
HcmV?d00001

diff --git a/src/main/java/frc4388/utility/controller/VirtualController.java b/src/main/java/frc4388/utility/controller/VirtualController.java
index 709bc1d..85adb64 100644
--- a/src/main/java/frc4388/utility/controller/VirtualController.java
+++ b/src/main/java/frc4388/utility/controller/VirtualController.java
@@ -39,7 +39,7 @@ public class VirtualController extends GenericHID {
         m_axes = new double[6];
         m_buttonStates = 0;
         m_buttonStatesLastFrame = 0;
-        m_pov = new short[1];
+        m_pov = new short[] {-1};
     }
 
     /**

From d8d75f4b869d65c3ee23dbb8c3338d2cfb76ae3b Mon Sep 17 00:00:00 2001
From: C4llSqin <83995467+C4llSqin@users.noreply.github.com>
Date: Tue, 7 May 2024 16:41:46 -0600
Subject: [PATCH 3/4] Disable camera

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

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 3e0325c..570e650 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -178,7 +178,7 @@ public class RobotContainer {
 
 
             DriverStation.silenceJoystickConnectionWarning(true);
-            CameraServer.startAutomaticCapture();
+            // CameraServer.startAutomaticCapture();
 
             /* Default Commands */
             // drives the robot with a two-axis input from the driver controller
@@ -371,8 +371,8 @@ public class RobotContainer {
     }
     
     /**
-     * This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}.
-     * Please use {@link RobotContainer#DualJoystickButton} for standard buttons.
+     * This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
+     * Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
      */
     private void configureVirtualButtonBindings() {
 

From 1d2f77299341ddcc57fbdc468b1ca32ca4b953da Mon Sep 17 00:00:00 2001
From: C4llSqin <83995467+C4llSqin@users.noreply.github.com>
Date: Tue, 7 May 2024 17:07:14 -0600
Subject: [PATCH 4/4] finalize cleanup

---
 .../java/frc4388/robot/RobotContainer.java    | 29 +------------------
 1 file changed, 1 insertion(+), 28 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 570e650..bac8be0 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -204,12 +204,6 @@ public class RobotContainer {
 
     }
 
-    // private void changeAuto() {
-    //     autoPlayback.unloadAuto();
-    //     autoPlayback.loadAuto();
-    //     lastAutoName = autoplaybackName.get();
-    //     System.out.println("AUTO: Changed auto to; `" + lastAutoName + "`");
-    // }
     /**
      * Use this method to define your button->command mappings. Buttons can be
      * created by instantiating a {@link GenericHID} or one of its subclasses
@@ -278,18 +272,6 @@ public class RobotContainer {
            true, false))
            .onFalse(new InstantCommand());
 
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
-                //    .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
-                //                                    () -> getDeadbandedDriverController().getLeftX(),
-                //                                    () -> getDeadbandedDriverController().getLeftY(),
-                //                                    () -> getDeadbandedDriverController().getRightX(),
-                //                                    () -> getDeadbandedDriverController().getRightY(),
-                //                                    "Taxi.txt"))
-                //    .onFalse(new InstantCommand());
-
-                // new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
-                //    .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
-                //    .onFalse(new InstantCommand()); 
         // ! /* Speed */
         new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
             .onTrue(new InstantCommand(()  -> m_robotSwerveDrive.shiftUp()));
@@ -304,12 +286,7 @@ public class RobotContainer {
         new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
         
-        // new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
-        //     .whileTrue(new InstantCommand(() -> 
-        //     m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
-        //                                       new Translation2d(0, 0),
-        //                         true), m_robotSwerveDrive));
-
+        
         
        //?  /* Operator Buttons */
 
@@ -349,10 +326,6 @@ public class RobotContainer {
         //spins up shooter, no wind down
         DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
             .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
-        
-        // DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
-        //     .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
-        //     .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
 
         DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
             .onTrue(emergencyRetract);