From ba548a447a64db7e07cd2825250c747a5d8e761c Mon Sep 17 00:00:00 2001
From: Tyler-J42 <tyler.jacques00@gmail.com>
Date: Sat, 17 Feb 2024 13:47:34 -0500
Subject: [PATCH] manual testing controls

---
 .SysId/sysid.json                                      | 1 +
 src/main/java/frc/robot/RobotContainer.java            | 6 ++++--
 src/main/java/frc/robot/constants/IntakeConstants.java | 4 ++--
 src/main/java/frc/robot/subsystems/Intake.java         | 8 ++++++++
 src/main/java/frc/robot/subsystems/Shooter.java        | 7 +++++++
 5 files changed, 22 insertions(+), 4 deletions(-)
 create mode 100644 .SysId/sysid.json

diff --git a/.SysId/sysid.json b/.SysId/sysid.json
new file mode 100644
index 0000000..0967ef4
--- /dev/null
+++ b/.SysId/sysid.json
@@ -0,0 +1 @@
+{}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1a2fa2e..a08c4df 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -132,9 +132,11 @@ public class RobotContainer {
             )
         );
 
-        intake.setDefaultCommand(intake.intakeUpCommand());
+        //intake.setDefaultCommand(intake.intakeUpCommand());
+        intake.setDefaultCommand(intake.manualPivot(operator::getLeftY));
 
-        shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
+       // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
+       shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY);
 
         climber.setDefaultCommand(climber.stop());
 
diff --git a/src/main/java/frc/robot/constants/IntakeConstants.java b/src/main/java/frc/robot/constants/IntakeConstants.java
index d1b3a4e..cef8e8e 100644
--- a/src/main/java/frc/robot/constants/IntakeConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeConstants.java
@@ -1,8 +1,8 @@
 package frc.robot.constants;
 
 public class IntakeConstants {
-    public static final int kIntakePivotID = 9;
-    public static final int kIntakeRollerID = 10;
+    public static final int kIntakePivotID = 10;
+    public static final int kIntakeRollerID = 12;
 
     public static final double kIntakePivotConversionFactor = 1/(20.0*(28.0/15.0));
 
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index f498a2a..5e80fe9 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -1,5 +1,7 @@
 package frc.robot.subsystems;
 
+import java.util.function.DoubleSupplier;
+
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkBase.IdleMode;
@@ -68,6 +70,12 @@ public class Intake extends SubsystemBase{
         });
     }
 
+    public Command manualPivot(DoubleSupplier pivotPower){
+        return run(() ->{
+            intakePivot.set(pivotPower.getAsDouble());
+        });
+    }
+
     public Command climbingStateCommand() {
         return run(() -> {
             intakeRoller.set(0.0);
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index 98f39a9..04bfc75 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -131,4 +131,11 @@ public class Shooter extends SubsystemBase{
     public DoubleSupplier getShooterAngle(){
         return () -> {return pivotEncoder.getDistance();};
     }
+
+    public Command manualPivot(DoubleSupplier pivotPower){
+        return run(() ->{
+            shooterPivot.set(pivotPower.getAsDouble());
+        });
+    }
+
 }