Even More Janky Code

Storage

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

@@ -79,9 +79,8 @@ public class RobotContainer {
         m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
         // drives the leveler with an axis input from the driver controller
         m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
-        // runs storage motor at 50 percent
-        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
     }
+      
 
     /**
     * Use this method to define your button->command mappings.  Buttons can be created by
@@ -139,8 +138,13 @@ public class RobotContainer {
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
             .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5)));
 
+        //Prepares storage for intaking
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
-            .whileHeld(new RunCommand(() -> m_robotStorage.storageIntake()));
+            .whileHeld(new RunCommand(() -> m_robotStorage.storageIntake(m_robotIntake)));
+            
+        //Runs storage to outtake
+        new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
+            .whileHeld(new RunCommand(() -> m_robotStorage.storageOuttake()));
     }
       
     /**

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

@@ -17,16 +17,20 @@ import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.IntakeConstants;
 
+
+
 public class Intake extends SubsystemBase {
   CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
   CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
-  CANDigitalInput m_extenderForwardLimit;
-  CANDigitalInput m_extenderReverseLimit;
+
 
   /**
    * Creates a new Intake.
    */
   public Intake() {
+    CANDigitalInput m_extenderForwardLimit;
+    CANDigitalInput m_extenderReverseLimit;
+
     m_intakeMotor.restoreFactoryDefaults();
     m_extenderMotor.restoreFactoryDefaults();
 
@@ -50,7 +54,7 @@ public class Intake extends SubsystemBase {
    * Runs intake motor
    * @param input the percent output to run motor at
    */
-  public void runIntake(double input) {
+  public void runIntake(final double input) {
     m_intakeMotor.set(input);
   }
   
@@ -58,7 +62,7 @@ public class Intake extends SubsystemBase {
    * Runs extender motor
    * @param input the percent output to run motor at
    */
-  public void runExtender(double input) {
+  public void runExtender(final double input) {
     m_extenderMotor.set(input);
   }
 }

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

@@ -9,12 +9,14 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANDigitalInput;
 import com.revrobotics.CANEncoder;
 import com.revrobotics.CANPIDController;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.ControlType;
 import com.revrobotics.SparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
@@ -95,7 +97,6 @@ public class Storage extends SubsystemBase {
       m_storageMotor.set(0);
     }
   }
-
 public void storageIntake(Intake intake) {
   m_intake = intake;
   if (m_beamSensors[1].get() == false){
@@ -110,11 +111,11 @@ public void storageIntake(Intake intake) {
   }
 }
 public void storageOuttake() {
-     m_storageMotor.set(1);
+  m_storageMotor.set(1);
+  
+  /*
+  *If shooting move storage motor until top sensor is tripped
+  *If intaking move storage motor until bottom sensor is tripped
+  */
   }
-    /*
-    *If shooting move storage motor until top sensor is tripped
-    *If intaking move storage motor until bottom sensor is tripped
-    *
-    */
 }