asdasdasd

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

@@ -27,6 +27,7 @@
 import frc.robot.commands.Swerve.SwerveJoystickCmd;
 import frc.robot.commands.common.FeedingPosition;
 import frc.robot.commands.common.IntakeInputPosition;
+import frc.robot.commands.common.dalhacan;
 import frc.robot.subsystems.FeederSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
@@ -67,7 +68,7 @@ private void configureBindings() {
 
    new JoystickButton(driverJoytick, 10).whileFalse(new InstantCommand(()->m_shooter.ShooterThrowAllMotorStop()));
 
-   new JoystickButton(driverJoytick, 1).whileTrue(new IntakeInputPosition(m_intake));
+   new JoystickButton(driverJoytick, 1).whileTrue(new dalhacan(m_intake, m_shooter));
     new JoystickButton(driverJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, 160.0));
     new JoystickButton(driverJoytick, 4).whileTrue(new FeedingPosition(m_shooter, m_feeder,m_intake));
 

src/main/java/frc/robot/commands/common/FeedingPosition.java

@@ -13,14 +13,14 @@ public FeedingPosition(ShooterSubsystem m_shooter,FeederSubsystem m_feeder , Int
 
     addCommands(
       //1.8
-      new PidIntakeCommand(m_intake, 1.2)
-      .alongWith(new ShooterSetDegree(m_shooter, -1.15))
+     ( new PidIntakeCommand(m_intake, 1.2)
+
     //-3.8
     .andThen(
       new InstantCommand(()->m_feeder.runtillswitch()).alongWith(new InstantCommand(() -> m_intake.NewIntakeMotorOutput(0.4)))
+      //ShooterSetDegree(m_shooter, -1.15)
 
-
-
+    )
 
 
       )

src/main/java/frc/robot/commands/common/IntakeInputPosition.java

@@ -7,6 +7,6 @@
 
 public class IntakeInputPosition extends SequentialCommandGroup {
   public IntakeInputPosition(IntakeSubsystem m_intake) {
-    addCommands(new PidIntakeCommand(m_intake, 11.0));
+    addCommands(new PidIntakeCommand(m_intake, 12.0));
   }
 }

src/main/java/frc/robot/commands/common/dalhacan.java

@@ -0,0 +1,26 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.common;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.Intake.PidIntakeCommand;
+import frc.robot.subsystems.FeederSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class dalhacan extends SequentialCommandGroup {
+  /** Creates a new dalhacan. */
+  public dalhacan(IntakeSubsystem m_intake, ShooterSubsystem m_shooter) {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(
+new InstantCommand(()->m_shooter.ShootertoFeederPos()).alongWith(new PidIntakeCommand(m_intake, 12.0)));
+
+  }
+}

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

@@ -115,7 +115,13 @@ public void ShooterThrowAllMotorStop(){
     public void ShooterAngleMotorStop(){
       ShooterAngleMotor.set(0);
     }
-
+    public void ShootertoFeederPos(){
+      if(!shooterswitch.get()){
+        ShooterAngleMotor.set(0.1);
+      }else{
+        ShooterAngleMotor.stopMotor();
+      }
+    }
 
   @Override
   public void periodic() {