Intake on controller

src/main/java/frc/robot/Constants.java

@@ -22,7 +22,6 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide
  * numerical or boolean
@@ -92,6 +91,7 @@ public static final class DriveConstants {
     public static final double GLOBAL_kA = 0.135; // V/(m/ss)
 
 
+
     // TODO: UPDATE BASED ON REAL ROBOT. DONE: FALSE
     public static final double TRACK_WIDTH = Units.inchesToMeters(19.675);
     public static final double WHEEL_BASE = Units.inchesToMeters(19.675);

src/main/java/frc/robot/RobotContainer.java

@@ -16,15 +16,22 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 import frc.robot.Constants.ControllerConstants;
 import frc.robot.commands.DriveCommand;
+import frc.robot.commands.IntakeCommand;
 import frc.robot.subsystems.SwerveSubsystem;
 import frc.robot.util.AllianceFlipUtil;
 import frc.robot.subsystems.Limelight.LimelightType;
 import frc.robot.util.LimelightContainer;
+import frc.robot.subsystems.IntakeSubsystem.IntakePresets;
+import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.Limelight;
 
 /**
@@ -59,6 +66,8 @@ public class RobotContainer {
     @Logged
     private final DriveCommand normalDrive = new DriveCommand(swerveDriveSubsystem, driverXbox.getHID());
 
+    private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
+
     /*
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -75,10 +84,28 @@ public RobotContainer() {
 
         // NamedCommands.registerCommand(null, getAutonomousCommand());
     }
-
+    private boolean intakeDown = false;
 
+    //TODO: Fix this with grouped commands 
+    private Command getIntakingCommand() {
+        //if (!intakeDown){
+            intakeDown = true;
+            return new ParallelCommandGroup(
+                new IntakeCommand(intakeSubsystem)
+                //intake down here
+            );
+        //}
+
+
+
+
+    }
 
-
+    private Command getShootingCommand() {
+        return new ParallelCommandGroup(
+            //putting up shooting, turret, and indexer commands here
+        );
+    }
     /**
      * Use this method to define your trigger->command mappings. Triggers can be
      * created via the
@@ -95,7 +122,9 @@ public RobotContainer() {
      */
     private void configureBindings() {
        //This is ment for operator controls
-
+        operatorXbox.leftTrigger().whileTrue(getIntakingCommand());
+        operatorXbox.rightTrigger().whileTrue(getShootingCommand());
+
     }
 
     /**
@@ -119,3 +148,4 @@ public CommandXboxController getOperatorXbox() {
         return operatorXbox;
     }
 }
+