From 8b554eb38d712bf3495f1e9cb8aadf0e03fc3fde Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Tue, 10 Mar 2020 18:44:53 -0600
Subject: [PATCH 1/7] Added IDs

---
 src/main/java/frc4388/robot/Constants.java      | 1 +
 src/main/java/frc4388/robot/RobotContainer.java | 1 +
 2 files changed, 2 insertions(+)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index c20a589..4c0689a 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -215,5 +215,6 @@ public final class Constants {
     public static final class OIConstants {
         public static final int XBOX_DRIVER_ID = 0;
         public static final int XBOX_OPERATOR_ID = 1;
+        public static final int BUTTON_BOX_ID = 2;
     }
 }
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1a0365e..955fc51 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -88,6 +88,7 @@ public class RobotContainer {
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+    private final XboxController m_buttonBox = new XboxController(OIConstants. BUTTON_BOX_ID);
 
 
     /**

From 6cc3e63b8648cf74c9b2d048137a58ae23aa3ec9 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Tue, 10 Mar 2020 18:47:22 -0600
Subject: [PATCH 2/7] fox

---
 src/main/java/frc4388/robot/Constants.java      | 2 +-
 src/main/java/frc4388/robot/RobotContainer.java | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 4c0689a..9a1cf41 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -215,6 +215,6 @@ public final class Constants {
     public static final class OIConstants {
         public static final int XBOX_DRIVER_ID = 0;
         public static final int XBOX_OPERATOR_ID = 1;
-        public static final int BUTTON_BOX_ID = 2;
+        public static final int BUTTON_FOX_ID = 2;
     }
 }
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 955fc51..b7cbfee 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -88,7 +88,7 @@ public class RobotContainer {
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
-    private final XboxController m_buttonBox = new XboxController(OIConstants. BUTTON_BOX_ID);
+    private final XboxController m_buttonFox = new XboxController(OIConstants. BUTTON_FOX_ID);
 
 
     /**

From 69657ace52217259c241173e2ce4d5d3d09d6409 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Tue, 10 Mar 2020 19:37:34 -0600
Subject: [PATCH 3/7] Added Storage Manual and ButtonFox.java

---
 .../java/frc4388/robot/RobotContainer.java    | 50 +++++++++++++++++++
 .../robot/commands/storage/ManageStorage.java | 11 +++-
 .../frc4388/utility/controller/ButtonFox.java | 20 ++++++++
 3 files changed, 80 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc4388/utility/controller/ButtonFox.java

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index b7cbfee..8e9854f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -35,6 +35,7 @@ import frc4388.robot.commands.climber.RunClimberWithTriggers;
 import frc4388.robot.commands.climber.RunLevelerWithJoystick;
 import frc4388.robot.commands.drive.DriveStraightToPositionMM;
 import frc4388.robot.commands.drive.DriveWithJoystick;
+import frc4388.robot.commands.drive.PlaySongDrive;
 import frc4388.robot.commands.drive.TurnDegrees;
 import frc4388.robot.commands.intake.RunIntakeWithTriggers;
 import frc4388.robot.commands.shooter.CalibrateShooter;
@@ -56,6 +57,7 @@ import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.ShooterAim;
 import frc4388.robot.subsystems.ShooterHood;
 import frc4388.robot.subsystems.Storage;
+import frc4388.utility.controller.ButtonFox;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
 import frc4388.utility.controller.XboxTriggerButton;
@@ -169,6 +171,9 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
             .whileHeld(new DisengageRachet(m_robotClimber));
 
+
+
+
         /* Operator Buttons */
         // shoots until released
         new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
@@ -235,6 +240,35 @@ public class RobotContainer {
             .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
             //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
             .whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
+
+
+
+
+        /* Button Fox */
+        // Storage Manual
+        new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH)
+            .whileHeld(new ManageStorage(m_robotStorage, StorageMode.MANUAL))
+            .whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
+
+        // Meg
+        new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH)
+            .whileHeld(new PlaySongDrive(m_robotDrive))
+            .whenReleased(new InterruptSubystem(m_robotDrive));
+
+        // Shooter Manual
+        new JoystickButton(getButtonFox(), ButtonFox.RIGHT_SWITCH)
+            .whileHeld(new PlaySongDrive(m_robotDrive))
+            .whenReleased(new InterruptSubystem(m_robotDrive));
+
+        // Goal Shooter Position
+        new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
+            .whileHeld(new PlaySongDrive(m_robotDrive))
+            .whenReleased(new InterruptSubystem(m_robotDrive));
+
+        // Trench Shooter Position
+        new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
+            .whileHeld(new PlaySongDrive(m_robotDrive))
+            .whenReleased(new InterruptSubystem(m_robotDrive));
     }
 
     /**
@@ -339,6 +373,11 @@ public class RobotContainer {
         return m_operatorXbox;
     }
 
+    public IHandController getButtonFoxObject()
+    {
+        return m_buttonFox;
+    }
+
     /**
      * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
      * Generic HIDs/Joysticks can be used to set up JoystickButtons.
@@ -358,4 +397,15 @@ public class RobotContainer {
     {
         return m_driverXbox.getJoyStick();
     }
+
+    /**
+     * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Button Fox.
+     * Generic HIDs/Joysticks can be used to set up JoystickButtons.
+     * @return The IHandController interface for the Button Fox.
+     */
+    public Joystick getButtonFox()
+    {
+        return m_buttonFox.getJoyStick();
+    }
+
 }
diff --git a/src/main/java/frc4388/robot/commands/storage/ManageStorage.java b/src/main/java/frc4388/robot/commands/storage/ManageStorage.java
index 68cfd71..5f3537c 100644
--- a/src/main/java/frc4388/robot/commands/storage/ManageStorage.java
+++ b/src/main/java/frc4388/robot/commands/storage/ManageStorage.java
@@ -27,7 +27,7 @@ public class ManageStorage extends CommandBase {
   /* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
   boolean m_isStorageEmpty = true;
 
-  public enum StorageMode{IDLE, INTAKE, RESET};
+  public enum StorageMode{IDLE, INTAKE, RESET, MANUAL};
   StorageMode m_storageMode = StorageMode.IDLE;
   
   /**
@@ -74,6 +74,8 @@ public class ManageStorage extends CommandBase {
       runIntake();
     } else if (m_storageMode == StorageMode.RESET) {
       runReset();
+    } else if (m_storageMode == StorageMode.MANUAL) {
+      runManual();
     }
   }
 
@@ -127,6 +129,13 @@ public class ManageStorage extends CommandBase {
     m_isStorageEmpty = !m_isBallInStorage;
   }
 
+  /**
+   * Switches Storage to Manual only
+   */
+  private void runManual() {
+    m_storage.runStorage(0);
+  }
+
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
diff --git a/src/main/java/frc4388/utility/controller/ButtonFox.java b/src/main/java/frc4388/utility/controller/ButtonFox.java
new file mode 100644
index 0000000..5b4da00
--- /dev/null
+++ b/src/main/java/frc4388/utility/controller/ButtonFox.java
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.utility.controller;
+
+/**
+ * button fox
+ * @author Ryan Manley
+ */
+public class ButtonFox {
+    public static final int RIGHT_SWITCH = 1;
+	public static final int MIDDLE_SWITCH = 2;
+	public static final int LEFT_SWITCH = 3;
+	public static final int RIGHT_BUTTON = 4;
+	public static final int LEFT_BUTTON = 5;
+}

From 713ab60c424e4c10b1b8c2fead19c9a4ca7d7f97 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Tue, 10 Mar 2020 20:14:28 -0600
Subject: [PATCH 4/7] Fixed Enums for Manual

---
 .../java/frc4388/robot/RobotContainer.java    |  8 ++--
 .../commands/shooter/ShooterGoalPosition.java | 40 +++++++++++++++++++
 .../shooter/ShooterTrenchPosition.java        | 40 +++++++++++++++++++
 .../robot/commands/storage/ManageStorage.java | 29 ++++++--------
 .../commands/storage/ManageStoragePID.java    | 26 ++++++------
 .../frc4388/robot/subsystems/Storage.java     |  7 ++++
 6 files changed, 116 insertions(+), 34 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
 create mode 100644 src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8e9854f..1ba7be0 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -44,7 +44,6 @@ import frc4388.robot.commands.shooter.TrackTarget;
 import frc4388.robot.commands.shooter.TrimShooter;
 import frc4388.robot.commands.storage.ManageStorage;
 import frc4388.robot.commands.storage.StoragePrep;
-import frc4388.robot.commands.storage.ManageStorage.StorageMode;
 import frc4388.robot.subsystems.Camera;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.subsystems.Drive;
@@ -57,6 +56,7 @@ import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.ShooterAim;
 import frc4388.robot.subsystems.ShooterHood;
 import frc4388.robot.subsystems.Storage;
+import frc4388.robot.subsystems.Storage.StorageMode;
 import frc4388.utility.controller.ButtonFox;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
@@ -129,7 +129,7 @@ public class RobotContainer {
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the storage not
         //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
-        m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
+        m_robotStorage.setDefaultCommand(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.IDLE)));
         //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
     }
 
@@ -247,8 +247,8 @@ public class RobotContainer {
         /* Button Fox */
         // Storage Manual
         new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH)
-            .whileHeld(new ManageStorage(m_robotStorage, StorageMode.MANUAL))
-            .whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
+            .whenPressed(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.MANUAL)))
+            .whenReleased(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.RESET)));
 
         // Meg
         new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH)
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
new file mode 100644
index 0000000..acf2366
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.shooter;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class ShooterGoalPosition extends CommandBase {
+  /**
+   * Creates a new ShooterGoalPosition.
+   */
+  public ShooterGoalPosition() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
new file mode 100644
index 0000000..f5408f2
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.shooter;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class ShooterTrenchPosition extends CommandBase {
+  /**
+   * Creates a new ShooterTrenchPosition.
+   */
+  public ShooterTrenchPosition() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/storage/ManageStorage.java b/src/main/java/frc4388/robot/commands/storage/ManageStorage.java
index 5f3537c..8b55380 100644
--- a/src/main/java/frc4388/robot/commands/storage/ManageStorage.java
+++ b/src/main/java/frc4388/robot/commands/storage/ManageStorage.java
@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.Constants.StorageConstants;
 import frc4388.robot.subsystems.Storage;
+import frc4388.robot.subsystems.Storage.StorageMode;
 
 public class ManageStorage extends CommandBase {
   Storage m_storage;
@@ -26,17 +27,13 @@ public class ManageStorage extends CommandBase {
 
   /* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
   boolean m_isStorageEmpty = true;
-
-  public enum StorageMode{IDLE, INTAKE, RESET, MANUAL};
-  StorageMode m_storageMode = StorageMode.IDLE;
   
   /**
    * Creates a new ManageStorage.
    */
-  public ManageStorage(Storage m_robotStorage, StorageMode storageMode) {
+  public ManageStorage(Storage m_robotStorage) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_storage = m_robotStorage;
-    m_storageMode = storageMode;
     addRequirements(m_storage);
   }
 
@@ -50,7 +47,7 @@ public class ManageStorage extends CommandBase {
 
     m_isStorageEmpty = !m_isBallInStorage;
 
-    if (m_storageMode == StorageMode.RESET) {
+    if (m_storage.m_storageMode == StorageMode.RESET) {
       m_resetStartTime = System.currentTimeMillis();
     }
   }
@@ -68,13 +65,13 @@ public class ManageStorage extends CommandBase {
     SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
     SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
 
-    if (m_storageMode == StorageMode.IDLE) {
+    if (m_storage.m_storageMode == StorageMode.IDLE) {
       runIdle();
-    } else if (m_storageMode == StorageMode.INTAKE) {
+    } else if (m_storage.m_storageMode == StorageMode.INTAKE) {
       runIntake();
-    } else if (m_storageMode == StorageMode.RESET) {
+    } else if (m_storage.m_storageMode == StorageMode.RESET) {
       runReset();
-    } else if (m_storageMode == StorageMode.MANUAL) {
+    } else if (m_storage.m_storageMode == StorageMode.MANUAL) {
       runManual();
     }
   }
@@ -93,10 +90,10 @@ public class ManageStorage extends CommandBase {
       }
       if (m_isStorageEmpty && m_isBallInStorage) { // If Ball moves into storage, set storage to full and swtich to idle mode
         m_isStorageEmpty = false;
-        m_storageMode = StorageMode.IDLE;
+        m_storage.changeStorageMode(StorageMode.IDLE);
       }
     } else {
-      m_storageMode = StorageMode.IDLE;
+      m_storage.changeStorageMode(StorageMode.IDLE);
     }
   }
 
@@ -108,7 +105,7 @@ public class ManageStorage extends CommandBase {
     m_storage.runStorage(0);
 
     if (m_isBallInIntake) {
-      m_storageMode = StorageMode.INTAKE;
+      m_storage.changeStorageMode(StorageMode.INTAKE);
     }
     m_isStorageEmpty = !m_isBallInStorage;
   }
@@ -122,9 +119,9 @@ public class ManageStorage extends CommandBase {
     m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
 
     if (m_isBallInIntake) {
-      m_storageMode = StorageMode.INTAKE;
+      m_storage.changeStorageMode(StorageMode.INTAKE);
     } else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
-      m_storageMode = StorageMode.IDLE;
+      m_storage.changeStorageMode(StorageMode.IDLE);
     }
     m_isStorageEmpty = !m_isBallInStorage;
   }
@@ -139,7 +136,7 @@ public class ManageStorage extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    m_storageMode = StorageMode.RESET;
+    m_storage.changeStorageMode(StorageMode.RESET);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc4388/robot/commands/storage/ManageStoragePID.java b/src/main/java/frc4388/robot/commands/storage/ManageStoragePID.java
index 6ed4fd3..97ff356 100644
--- a/src/main/java/frc4388/robot/commands/storage/ManageStoragePID.java
+++ b/src/main/java/frc4388/robot/commands/storage/ManageStoragePID.java
@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.Constants.StorageConstants;
 import frc4388.robot.subsystems.Storage;
+import frc4388.robot.subsystems.Storage.StorageMode;
 
 public class ManageStoragePID extends CommandBase {
   Storage m_storage;
@@ -30,16 +31,13 @@ public class ManageStoragePID extends CommandBase {
   /* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
   boolean m_isStorageEmpty = true;
 
-  public enum StorageMode{IDLE, INTAKE, RESET};
-  StorageMode m_storageMode = StorageMode.IDLE;
   
   /**
    * Creates a new ManageStorage.
    */
-  public ManageStoragePID(Storage m_robotStorage, StorageMode storageMode) {
+  public ManageStoragePID(Storage m_robotStorage) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_storage = m_robotStorage;
-    m_storageMode = storageMode;
     addRequirements(m_storage);
   }
 
@@ -55,7 +53,7 @@ public class ManageStoragePID extends CommandBase {
 
     m_intakeStartPos = m_storage.getEncoderPosInches();
 
-    if (m_storageMode == StorageMode.RESET) {
+    if (m_storage.m_storageMode == StorageMode.RESET) {
       m_resetStartTime = System.currentTimeMillis();
     }
   }
@@ -73,11 +71,11 @@ public class ManageStoragePID extends CommandBase {
     SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
     SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
 
-    if (m_storageMode == StorageMode.IDLE) {
+    if (m_storage.m_storageMode == StorageMode.IDLE) {
       runIdle();
-    } else if (m_storageMode == StorageMode.INTAKE) {
+    } else if (m_storage.m_storageMode == StorageMode.INTAKE) {
       runIntake();
-    } else if (m_storageMode == StorageMode.RESET) {
+    } else if (m_storage.m_storageMode == StorageMode.RESET) {
       runReset();
     }
   }
@@ -93,10 +91,10 @@ public class ManageStoragePID extends CommandBase {
 
       double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
       if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
-        m_storageMode = StorageMode.IDLE;
+        m_storage.changeStorageMode(StorageMode.IDLE);
       }
     } else {
-      m_storageMode = StorageMode.IDLE;
+      m_storage.changeStorageMode(StorageMode.IDLE);
     }
   }
 
@@ -108,7 +106,7 @@ public class ManageStoragePID extends CommandBase {
     m_storage.runStorage(0);
 
     if (m_isBallInIntake) {
-      m_storageMode = StorageMode.INTAKE;
+      m_storage.changeStorageMode(StorageMode.INTAKE);
       m_intakeStartPos = m_storage.getEncoderPosInches();
     }
     m_isStorageEmpty = !m_isBallInStorage;
@@ -123,10 +121,10 @@ public class ManageStoragePID extends CommandBase {
     m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
 
     if (m_isBallInIntake) {
-      m_storageMode = StorageMode.INTAKE;
+      m_storage.changeStorageMode(StorageMode.INTAKE);
       m_intakeStartPos = m_storage.getEncoderPosInches();
     } else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
-      m_storageMode = StorageMode.IDLE;
+      m_storage.changeStorageMode(StorageMode.IDLE);
     }
     m_isStorageEmpty = !m_isBallInStorage;
   }
@@ -134,7 +132,7 @@ public class ManageStoragePID extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    m_storageMode = StorageMode.RESET;
+    m_storage.changeStorageMode(StorageMode.RESET);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
index 403de25..98bc3b3 100644
--- a/src/main/java/frc4388/robot/subsystems/Storage.java
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -36,6 +36,9 @@ public class Storage extends SubsystemBase {
 
   public boolean m_isStorageReadyToFire = false;
 
+  public enum StorageMode{IDLE, INTAKE, RESET, MANUAL};
+  public StorageMode m_storageMode = StorageMode.IDLE;
+
   /**
    * Creates a new Storage.
    */
@@ -134,4 +137,8 @@ public class Storage extends SubsystemBase {
   public boolean getBeamIntake(){
     return m_beamIntake.get();
   }
+
+  public void changeStorageMode(StorageMode storageMode){
+    m_storageMode = storageMode;
+  }
 }

From b55974b01c0f8680fcc1f29be5739b8527897ca1 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Tue, 10 Mar 2020 20:23:32 -0600
Subject: [PATCH 5/7] Added Goal and Trench Position Commands

Untested
---
 src/main/java/frc4388/robot/RobotContainer.java  | 14 ++++++++++----
 .../commands/shooter/ShooterGoalPosition.java    | 16 ++++++++++++++--
 .../commands/shooter/ShooterTrenchPosition.java  | 16 ++++++++++++++--
 3 files changed, 38 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1ba7be0..3612c9d 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -40,6 +40,8 @@ import frc4388.robot.commands.drive.TurnDegrees;
 import frc4388.robot.commands.intake.RunIntakeWithTriggers;
 import frc4388.robot.commands.shooter.CalibrateShooter;
 import frc4388.robot.commands.shooter.ShootPrepGroup;
+import frc4388.robot.commands.shooter.ShooterGoalPosition;
+import frc4388.robot.commands.shooter.ShooterTrenchPosition;
 import frc4388.robot.commands.shooter.TrackTarget;
 import frc4388.robot.commands.shooter.TrimShooter;
 import frc4388.robot.commands.storage.ManageStorage;
@@ -262,13 +264,17 @@ public class RobotContainer {
 
         // Goal Shooter Position
         new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
-            .whileHeld(new PlaySongDrive(m_robotDrive))
-            .whenReleased(new InterruptSubystem(m_robotDrive));
+            .whileHeld(new ShooterGoalPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
+            .whenReleased(new InterruptSubystem(m_robotShooter))
+            .whenReleased(new InterruptSubystem(m_robotShooterHood))
+            .whenReleased(new InterruptSubystem(m_robotShooterAim));
 
         // Trench Shooter Position
         new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
-            .whileHeld(new PlaySongDrive(m_robotDrive))
-            .whenReleased(new InterruptSubystem(m_robotDrive));
+            .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
+            .whenReleased(new InterruptSubystem(m_robotShooter))
+            .whenReleased(new InterruptSubystem(m_robotShooterHood))
+            .whenReleased(new InterruptSubystem(m_robotShooterAim));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
index acf2366..b750c66 100644
--- a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
@@ -8,13 +8,22 @@
 package frc4388.robot.commands.shooter;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
 
 public class ShooterGoalPosition extends CommandBase {
+  Shooter m_shooter;
+  ShooterHood m_hood;
+  ShooterAim m_aim;
   /**
    * Creates a new ShooterGoalPosition.
    */
-  public ShooterGoalPosition() {
-    // Use addRequirements() here to declare subsystem dependencies.
+  public ShooterGoalPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
+    m_shooter = shooterSub;
+    m_hood = hoodSub;
+    m_aim = aimSub;
+    addRequirements(m_shooter,m_hood,m_aim);
   }
 
   // Called when the command is initially scheduled.
@@ -25,6 +34,9 @@ public class ShooterGoalPosition extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    m_shooter.runDrumShooterVelocityPID(5000);
+    m_hood.runAngleAdjustPID(3);
+    m_aim.runshooterRotatePID(-26.5);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
index f5408f2..ba452b7 100644
--- a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
@@ -8,13 +8,22 @@
 package frc4388.robot.commands.shooter;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
 
 public class ShooterTrenchPosition extends CommandBase {
+  Shooter m_shooter;
+  ShooterHood m_hood;
+  ShooterAim m_aim;
   /**
    * Creates a new ShooterTrenchPosition.
    */
-  public ShooterTrenchPosition() {
-    // Use addRequirements() here to declare subsystem dependencies.
+  public ShooterTrenchPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
+    m_shooter = shooterSub;
+    m_hood = hoodSub;
+    m_aim = aimSub;
+    addRequirements(m_shooter,m_hood,m_aim);
   }
 
   // Called when the command is initially scheduled.
@@ -25,6 +34,9 @@ public class ShooterTrenchPosition extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    m_shooter.runDrumShooterVelocityPID(5000);
+    m_hood.runAngleAdjustPID(3);
+    m_aim.runshooterRotatePID(-26.5);
   }
 
   // Called once the command ends or is interrupted.

From db128a328a938186c55240b93ca53f442ab10ac7 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Wed, 11 Mar 2020 20:56:18 -0600
Subject: [PATCH 6/7] Added Hood with joy, full manual all programmed but not
 might not work

---
 .../java/frc4388/robot/RobotContainer.java    | 36 +++++++------
 .../commands/shooter/RunHoodWithJoystick.java | 54 +++++++++++++++++++
 .../robot/commands/shooter/ShooterManual.java | 45 ++++++++++++++++
 .../frc4388/robot/subsystems/ShooterHood.java |  5 ++
 .../controller/JoystickManualButton.java      | 53 ++++++++++++++++++
 .../utility/controller/XboxController.java    |  4 ++
 6 files changed, 181 insertions(+), 16 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java
 create mode 100644 src/main/java/frc4388/robot/commands/shooter/ShooterManual.java
 create mode 100644 src/main/java/frc4388/utility/controller/JoystickManualButton.java

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 3612c9d..cfd064b 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -39,9 +39,12 @@ import frc4388.robot.commands.drive.PlaySongDrive;
 import frc4388.robot.commands.drive.TurnDegrees;
 import frc4388.robot.commands.intake.RunIntakeWithTriggers;
 import frc4388.robot.commands.shooter.CalibrateShooter;
+import frc4388.robot.commands.shooter.RunHoodWithJoystick;
 import frc4388.robot.commands.shooter.ShootPrepGroup;
 import frc4388.robot.commands.shooter.ShooterGoalPosition;
+import frc4388.robot.commands.shooter.ShooterManual;
 import frc4388.robot.commands.shooter.ShooterTrenchPosition;
+import frc4388.robot.commands.shooter.ShooterVelocityControlPID;
 import frc4388.robot.commands.shooter.TrackTarget;
 import frc4388.robot.commands.shooter.TrimShooter;
 import frc4388.robot.commands.storage.ManageStorage;
@@ -61,6 +64,7 @@ import frc4388.robot.subsystems.Storage;
 import frc4388.robot.subsystems.Storage.StorageMode;
 import frc4388.utility.controller.ButtonFox;
 import frc4388.utility.controller.IHandController;
+import frc4388.utility.controller.JoystickManualButton;
 import frc4388.utility.controller.XboxController;
 import frc4388.utility.controller.XboxTriggerButton;
 
@@ -90,10 +94,12 @@ public class RobotContainer {
     private final LimeLight m_robotLime = new LimeLight();
 
     /* Controllers */
-    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
-    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
-    private final XboxController m_buttonFox = new XboxController(OIConstants. BUTTON_FOX_ID);
+    private static XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
+    private static XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+    private static XboxController m_buttonFox = new XboxController(OIConstants. BUTTON_FOX_ID);
+    private static XboxController m_manualXbox = new XboxController(3);
 
+    public static boolean m_isShooterManual = false;
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -121,6 +127,8 @@ public class RobotContainer {
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // runs the turret with joystick
         m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(-m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
+        // runs the hood with joystick
+        m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
         // moves the drum not
         m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(1500), m_robotShooter));
         // drives climber with input from triggers on the opperator controller
@@ -226,23 +234,18 @@ public class RobotContainer {
         new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
             .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
 
-        //Prepares storage for intaking
-        //new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.LEFT_TRIGGER)
-            //.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.8)))
-            //.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
-            //.whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
-
-        //Runs storage to outtake
-       //new XboxTriggerButton(m_operatorXbox, XboxTriggerButton.RIGHT_TRIGGER)
-            //.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.8)))
-            //.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
 
         //Run drum
-        new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
+        new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false)
             .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
             //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
             .whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
 
+        //Run drum manual
+        new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true)
+            .whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000)))
+            .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
+
 
 
 
@@ -259,8 +262,8 @@ public class RobotContainer {
 
         // Shooter Manual
         new JoystickButton(getButtonFox(), ButtonFox.RIGHT_SWITCH)
-            .whileHeld(new PlaySongDrive(m_robotDrive))
-            .whenReleased(new InterruptSubystem(m_robotDrive));
+            .whileHeld(new ShooterManual(true))
+            .whenReleased(new ShooterManual(false));
 
         // Goal Shooter Position
         new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
@@ -384,6 +387,7 @@ public class RobotContainer {
         return m_buttonFox;
     }
 
+
     /**
      * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
      * Generic HIDs/Joysticks can be used to set up JoystickButtons.
diff --git a/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java b/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java
new file mode 100644
index 0000000..29ca105
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.shooter;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Leveler;
+import frc4388.robot.subsystems.ShooterHood;
+import frc4388.utility.controller.IHandController;
+
+public class RunHoodWithJoystick extends CommandBase {
+  private ShooterHood m_hood;
+  private IHandController m_controller;
+
+  /**
+   * Creates a new RunLevelerWithJoystick to control the leveler with an Xbox controller.
+   * @param subsystem pass the Hood subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Operator {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getOperatorJoystick() getOperatorJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public RunHoodWithJoystick(ShooterHood subsystem, IHandController controller) {
+    m_hood = subsystem;
+    m_controller = controller;
+    addRequirements(m_hood);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double input = m_controller.getRightXAxis();
+    m_hood.runHood(input);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterManual.java b/src/main/java/frc4388/robot/commands/shooter/ShooterManual.java
new file mode 100644
index 0000000..2017ff4
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterManual.java
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.shooter;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.RobotContainer;
+
+public class ShooterManual extends CommandBase {
+  public boolean isManual = false;
+  /**
+   * Creates a new ShooterManual.
+   */
+  public ShooterManual(boolean man) {
+    isManual = man;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    RobotContainer.m_isShooterManual = isManual;
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    RobotContainer.m_isShooterManual = isManual;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc4388/robot/subsystems/ShooterHood.java b/src/main/java/frc4388/robot/subsystems/ShooterHood.java
index c177c38..e286a2e 100644
--- a/src/main/java/frc4388/robot/subsystems/ShooterHood.java
+++ b/src/main/java/frc4388/robot/subsystems/ShooterHood.java
@@ -86,6 +86,11 @@ public class ShooterHood extends SubsystemBase {
     m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
   }
 
+  public void runHood(double input)
+  {
+    m_angleAdjustMotor.set(input);
+  }
+
   public void resetGyroAngleAdj(){
     m_angleEncoder.setPosition(0);
 }
diff --git a/src/main/java/frc4388/utility/controller/JoystickManualButton.java b/src/main/java/frc4388/utility/controller/JoystickManualButton.java
new file mode 100644
index 0000000..6455639
--- /dev/null
+++ b/src/main/java/frc4388/utility/controller/JoystickManualButton.java
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.utility.controller;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj2.command.button.Button;
+import frc4388.robot.RobotContainer;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A {@link Button} that gets its state from a {@link GenericHID}.
+ */
+public class JoystickManualButton extends Button {
+    private final GenericHID m_joystick;
+    private final int m_buttonNumber;
+    private boolean m_buttonType;
+
+    /**
+     * Creates a joystick button for triggering commands.
+     *
+     * @param joystick     The GenericHID object that has the button (e.g. Joystick,
+     *                     KinectStick, etc)
+     * @param buttonNumber The button number (see
+     *                     {@link GenericHID#getRawButton(int) }
+     */
+    public JoystickManualButton(GenericHID joystick, int buttonNumber, boolean buttonType) {
+    requireNonNullParam(joystick, "joystick", "JoystickButton");
+
+    m_joystick = joystick;
+    m_buttonNumber = buttonNumber;
+  }
+
+  /**
+   * Gets the value of the joystick button.
+   *
+   * @return The value of the joystick button
+   */
+  @Override
+  public boolean get() {
+    boolean m = RobotContainer.m_isShooterManual;
+    if (m_buttonType == m) {
+        return m_joystick.getRawButton(m_buttonNumber);
+    } else {
+        return false;
+    }
+  }
+}
diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java
index 4353d1e..38c4736 100644
--- a/src/main/java/frc4388/utility/controller/XboxController.java
+++ b/src/main/java/frc4388/utility/controller/XboxController.java
@@ -60,6 +60,10 @@ public class XboxController implements IHandController
 		m_stick = new Joystick(portNumber);
 	}
 
+	public void setJoystick(Joystick joy) {
+		m_stick = joy;
+	}
+
 	/**
      * @return Joystick for Xbox Controller
      */

From bb9c325479daabcf8eabdc401c2e80752cf88626 Mon Sep 17 00:00:00 2001
From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com>
Date: Fri, 13 Mar 2020 17:10:44 -0600
Subject: [PATCH 7/7] doneish

---
 src/main/java/frc4388/robot/RobotContainer.java               | 4 ++--
 .../frc4388/robot/commands/shooter/RunHoodWithJoystick.java   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index cfd064b..eaaab06 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -139,7 +139,7 @@ public class RobotContainer {
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the storage not
         //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
-        m_robotStorage.setDefaultCommand(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.IDLE)));
+        m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
         //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
     }
 
@@ -257,7 +257,7 @@ public class RobotContainer {
 
         // Meg
         new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH)
-            .whileHeld(new PlaySongDrive(m_robotDrive))
+            .whenPressed(new PlaySongDrive(m_robotDrive))
             .whenReleased(new InterruptSubystem(m_robotDrive));
 
         // Shooter Manual
diff --git a/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java b/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java
index 29ca105..f406e04 100644
--- a/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java
+++ b/src/main/java/frc4388/robot/commands/shooter/RunHoodWithJoystick.java
@@ -37,7 +37,7 @@ public class RunHoodWithJoystick extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double input = m_controller.getRightXAxis();
+    double input = m_controller.getRightYAxis();
     m_hood.runHood(input);
   }