Merging most recent master branch

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

@@ -133,14 +133,14 @@ public class RobotContainer {
         );
 
         //intake.setDefaultCommand(intake.intakeUpCommand());
-        intake.setDefaultCommand(intake.manualPivot(operator::getLeftY));
+        intake.setDefaultCommand(intake.manualPivot(operator::getLeftY, driver::getLeftTriggerAxis));
 
        // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
-       shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY));
+        shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY, operator::getLeftTriggerAxis));
 
         climber.setDefaultCommand(climber.stop());
 
-        indexer.setDefaultCommand(indexer.autoIndexing());
+        indexer.setDefaultCommand(indexer.shootNote(operator::getRightTriggerAxis));
 
         driver.povCenter().onFalse(
             drivetrain.driveCardinal(
@@ -226,6 +226,10 @@ public class RobotContainer {
         .withPosition(0, 0)
         .withSize(2, 1)
         .withWidget(BuiltInWidgets.kBooleanBox);
+    teleopTab.addBoolean("indexer beam break", indexer.getBeamBreak());
+    teleopTab.addBoolean("shooter beam break", shooter.getBeamBreak());
+    teleopTab.addDouble("shooter angle", shooter.getShooterAngle());
+    teleopTab.addDouble("intake angle", intake.getIntakeAngle());
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/constants/IndexerConstants.java

@@ -3,5 +3,5 @@ package frc.robot.constants;
 public class IndexerConstants {
     public static final int kIndexerID = 13;
 
-    public static final int kIndexerBeamBreakChannel = 3;
+    public static final int kIndexerBeamBreakChannel = 2;
 }

src/main/java/frc/robot/constants/ShooterConstants.java

@@ -31,5 +31,5 @@ public class ShooterConstants {
 
     public static final int kShooterEncoderChannelA = 0;
     public static final int kShooterEncoderChannelB = 1;
-    public static final int kShooterBeamBreakChannel = 4;
+    public static final int kShooterBeamBreakChannel = 3;
 }

src/main/java/frc/robot/subsystems/Indexer.java

@@ -1,6 +1,10 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.CANSparkMax;
+
+import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
+
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
@@ -35,9 +39,13 @@ public class Indexer extends SubsystemBase{
      });
     }
     
-    public Command shootNote(){
+    public Command shootNote(DoubleSupplier indexerSpeed){
         return run(() -> {
-            indexerMotor.set(1.0);
+            indexerMotor.set(indexerSpeed.getAsDouble());
         });
     }
+
+    public BooleanSupplier getBeamBreak(){
+        return indexerBeamBreak::get;
+    }
 }

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

@@ -109,9 +109,10 @@ public class Intake extends SubsystemBase{
         });
     }
 
-    public Command manualPivot(DoubleSupplier pivotPower){
+    public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){
         return run(() ->{
             intakePivot.set(pivotPower.getAsDouble());
+            intakeRoller.set(rollerSpinny.getAsDouble());
         });
     }
 
@@ -154,4 +155,8 @@ public class Intake extends SubsystemBase{
     public Command sysIdDynamic(SysIdRoutine.Direction direction) {
         return intakePivotRoutine.dynamic(direction);
     }
+    
+    public DoubleSupplier getIntakeAngle(){
+        return intakeEncoder::getPosition;
+    }
 }

src/main/java/frc/robot/subsystems/Shooter.java

@@ -1,5 +1,6 @@
 package frc.robot.subsystems;
 
+import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
 import com.revrobotics.CANSparkMax;
@@ -224,9 +225,15 @@ public class Shooter extends SubsystemBase {
         return () -> {return pivotEncoder.getDistance();};
     }
 
-    public Command manualPivot(DoubleSupplier pivotPower){
+    public BooleanSupplier getBeamBreak(){
+        return shooterBeamBreak::get;
+    }
+
+    public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){
         return run(() ->{
             shooterPivot.set(pivotPower.getAsDouble());
+            topShooter.set(spinny.getAsDouble());
+            bottomShooter.set(spinny.getAsDouble());
         });
     }