Added Hood with joy, full manual all programmed but not might not work

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.

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;
+  }
+}

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;
+  }
+}

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);
 }

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;
+    }
+  }
+}

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
      */