From 235f43fd2e6b0b6e9a3c401ef9c27d0be7f411b2 Mon Sep 17 00:00:00 2001
From: NoahLacks63 <noahlacks63@gmail.com>
Date: Thu, 19 Mar 2026 15:16:29 -0400
Subject: [PATCH] made intake jimmy a method and added a button for it

---
 src/main/java/frc/robot/RobotContainer.java   | 18 +++++------
 .../frc/robot/subsystems/IntakePivot.java     | 32 +++++++++++++++----
 2 files changed, 35 insertions(+), 15 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index fa34384..f9c5cb4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -310,6 +310,12 @@ public class RobotContainer {
         secondary.rightBumper().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(10)));
         //10 degrees good for shooting ~33in away from hub
 
+        secondary.y().whileTrue(
+            intakePivot.jimmy(.2)
+            .andThen(
+                intakePivot.manualSpeed(() -> -0.5)
+            )
+        );
         
         hood.setDefaultCommand(hood.trackToAngle(() -> {
             Pose2d drivetrainPose = drivetrain.getPose();
@@ -374,18 +380,12 @@ public class RobotContainer {
         NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
 
         NamedCommands.registerCommand("jimmy",
-            Commands.repeatingSequence(
-                    intakePivot.manualSpeed(() -> -0.75).withTimeout(0.2)
-                    .andThen(intakePivot.manualSpeed(() -> 0.75).withTimeout(0.2))
-                )
-            );
+            intakePivot.jimmy(0.2)
+        );
 
         NamedCommands.registerCommand("shoot N jimmy", 
             Commands.parallel(
-                Commands.repeatingSequence(
-                    intakePivot.manualSpeed(() -> -0.75).withTimeout(0.5),
-                    intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
-                ),
+                intakePivot.jimmy(0.5),
                 spindexer.spinToShooter()
                     .alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
                                hood.trackToAngle(() -> Units.degreesToRadians(10)))
diff --git a/src/main/java/frc/robot/subsystems/IntakePivot.java b/src/main/java/frc/robot/subsystems/IntakePivot.java
index 14f9428..5aa2c16 100644
--- a/src/main/java/frc/robot/subsystems/IntakePivot.java
+++ b/src/main/java/frc/robot/subsystems/IntakePivot.java
@@ -14,6 +14,7 @@ import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.IntakePivotConstants;
 import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
@@ -80,12 +81,31 @@ public class IntakePivot extends SubsystemBase {
         });
     }
 
-    // public Command jimmy(){
-    //     return run(() -> {
-    //         leftMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
-    //         rightMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
-    //     })
-    // }
+    /**
+     * Repeatedly moves the intake up and down. AKA "Jimmying" the intake
+     * 
+     * @param time How long the intake will go both ways for (seconds)
+     * @return Command that repeatedly Jimmys the intake
+     */
+    public Command jimmy(double time){
+        return Commands.repeatingSequence(
+            manualSpeed(() -> -0.75).withTimeout(time)
+            .andThen(manualSpeed(() -> 0.75).withTimeout(time))
+        );
+    }
+
+    /**
+     * Repeatedly moves the intake up and down. AKA "Jimmying" the intake
+     * 
+     * @param time How long the intake will go both ways for (seconds)
+     * @return Command that repeatedly Jimmys the intake
+     */
+    public Command jimmy(DoubleSupplier time) {
+        return Commands.repeatingSequence(
+            manualSpeed(() -> -0.75).withTimeout(time.getAsDouble())
+            .andThen(manualSpeed(() -> 0.75).withTimeout(time.getAsDouble()))
+        );
+    }
 
     public Command stop() {
         return manualSpeed(() -> 0);