hazır gibi

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

@@ -71,8 +71,8 @@ public RobotContainer() {
 
                 swerveSubsystem.setDefaultCommand(new SwerveJoystickCmd(
                                 swerveSubsystem,
-                                () -> -driverJoytick.getRawAxis(OIConstants.kDriverYAxis),
-                                () -> driverJoytick.getRawAxis(OIConstants.kDriverXAxis),
+                                () -> driverJoytick.getRawAxis(OIConstants.kDriverYAxis),
+                                () -> -driverJoytick.getRawAxis(OIConstants.kDriverXAxis),
                                 () -> driverJoytick.getRawAxis(OIConstants.kDriverRotAxis),
                                 () -> !driverJoytick.getRawButton(OIConstants.kDriverFieldOrientedButtonIdx)));
 
@@ -98,6 +98,8 @@ private void configureBindings() {
 
 //buton 1
 new JoystickButton(driverJoytick, 1).whileTrue(new InstantCommand(()-> m_feeder.forward()));
+new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(()-> m_feeder.stop()));
+
 
 //buton 2
 new JoystickButton(driverJoytick, 2).whileTrue(new InstantCommand(()-> m_feeder.backward()));
@@ -140,7 +142,7 @@ private void configureBindings() {
 // new JoystickButton(subJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, ()->70.0));
 
 //button 5 Amfi 
-// new JoystickButton(subJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, ()->70.0));
+ new JoystickButton(subJoytick, 5).whileTrue(new ShooterSetDegree(m_shooter, ()->180.0));
 
 
 

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

@@ -27,7 +27,7 @@ public fedleme(IntakeSubsystem m_intake, FeederSubsystem m_feeder, JoystickSubsy
       new InstantCommand(()-> m_shooter.ShootertoFeederPos())
       .andThen(new IntakeModeChange(m_joystick, 0))
       .alongWith(new WaitCommand(1).andThen(new GetNote(m_intake)))
-      .alongWith(new FeederRunTillSwitch(m_feeder, false))
+      .alongWith(new FeederRunTillSwitch(m_feeder, false, m_intake))
 
 
 

src/main/java/frc/robot/commands/feeder/FeederRunTillSwitch.java

@@ -6,14 +6,17 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.FeederSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
 
 public class FeederRunTillSwitch extends Command {
   FeederSubsystem m_feeder;
   boolean dursunmu;
+  IntakeSubsystem m_intake;
 
 
-  public FeederRunTillSwitch(FeederSubsystem m_feeder, boolean dursunmu) {
+  public FeederRunTillSwitch(FeederSubsystem m_feeder, boolean dursunmu, IntakeSubsystem m_intake) {
     this.m_feeder = m_feeder;
+    this.m_intake = m_intake;
   }
 
   // Called when the command is initially scheduled.
@@ -33,6 +36,7 @@ public void execute() {
 }
 else{
   m_feeder.stop();
+  m_intake.StopNoteMotor();
   m_feeder.varmifalse();
 
 }}

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

@@ -57,7 +57,7 @@ public void runtillswitch(){
         feedmotor.set(-0.6);
       }else{
         feedmotor.set(0.0);
-
+        
       }
   }
 

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

@@ -20,12 +20,27 @@ public class IntakeSubsystem extends SubsystemBase {
   public DigitalInput intakedetector1 = new DigitalInput(8);
   public DigitalInput intakedetector2 = new DigitalInput(9);
   public boolean tekcalisma = true;
+  public boolean digeride = false;
 
   public IntakeSubsystem() {
     intakeMotor.setIdleMode(IdleMode.kBrake);
     IntakeEncoder = intakeMotor.getEncoder();
   }
 
+  public void digeridetrue(){
+    digeride = true;
+
+  }
+
+  public void digeridefalse(){
+    digeride = false;
+
+  }
+
+  public boolean digeridedondur(){
+  return digeride;
+  }
+
   public void brakemode() {
     intakeMotor.setIdleMode(IdleMode.kBrake);
 

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

@@ -43,7 +43,7 @@ public void periodic() {
 break;
 
 case 1:
-intakedeger = 11.7;
+intakedeger = 12.5;
 break;
 }
 
@@ -59,7 +59,7 @@ public void periodic() {
   break;
 
   case 2:
-  shooterdeger = 140;
+  shooterdeger = 164;
   break;
   }