bakalım bakalım

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

@@ -31,8 +31,9 @@
 import frc.robot.commands.Swerve.SwerveJoystickCmd;
 import frc.robot.commands.common.FeedingPosition;
 import frc.robot.commands.common.IntakeInputPosition;
-import frc.robot.commands.common.cinarcan;
 import frc.robot.commands.common.dalhacan;
+import frc.robot.commands.common.fedleme;
+import frc.robot.commands.feeder.FeederRunTillSwitch;
 import frc.robot.subsystems.FeederSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
@@ -82,10 +83,10 @@ private void configureBindings() {
                 new JoystickButton(driverJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, 160.0));
                 // new JoystickButton(driverJoytick, 4).whileTrue(new cinarcan(m_intake,
                 // m_feeder));
-                new JoystickButton(driverJoytick, 4).whileTrue(new PidIntakeCommand(m_intake, 1.2));
-                new JoystickButton(driverJoytick, 4).whileTrue(new InstantCommand(() -> m_intake.degistir()));
-                new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(() -> m_intake.StopAngleMotor()));
+                new JoystickButton(driverJoytick, 4).whileTrue(new RunTillSwitch(m_intake,false));
+               new JoystickButton(driverJoytick, 4).whileFalse(new InstantCommand(() -> m_intake.StopNoteMotor()));
 
+                new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(() -> m_intake.StopAngleMotor()));
                 new JoystickButton(driverJoytick, 2).whileTrue(new InstantCommand(() -> m_intake.reset()));
                 new JoystickButton(driverJoytick, 2).whileTrue(new InstantCommand(() -> m_shooter.AngleEncoderReset()));
 
@@ -101,8 +102,8 @@ private void configureBindings() {
                 // m_feeder.backward()));
                 // new JoystickButton(driverJoytick, 4).whileFalse(new RunCommand(()->
                 // m_feeder.stop()));
-                new JoystickButton(driverJoytick, 9).whileTrue(new cinarcan(m_intake, m_feeder));
-                new JoystickButton(driverJoytick, 9).whileFalse(new cinarcan(m_intake, m_feeder));
+                //new JoystickButton(driverJoytick, 9).whileTrue(new cinarcan(m_intake, m_feeder));
+                //ew JoystickButton(driverJoytick, 9).whileFalse(new cinarcan(m_intake, m_feeder));
 
    // new JoystickButton(driverJoytick, 1).whileTrue(new InstantCommand(()->m_shooter.AngleEncoderReset()));
     //new JoystickButton(driverJoytick, 2).whileTrue(new IntakeInputPosition(m_intake));
@@ -112,17 +113,22 @@ private void configureBindings() {
    // new JoystickButton(driverJoytick, 4).whileFalse(new RunCommand(()-> m_feeder.stop()));
    // new JoystickButton(driverJoytick, 9).whileTrue(new cinarcan(m_intake, m_feeder));
     //new JoystickButton(driverJoytick, 9).whileFalse(new cinarcan(m_intake, m_feeder));
-    new JoystickButton(driverJoytick, 5).whileTrue(new RunTillSwitch(m_intake));
-    new JoystickButton(driverJoytick, 5).whileFalse(new InstantCommand(()-> m_intake.StopNoteMotor()));
+    new JoystickButton(driverJoytick, 5).whileTrue(new RunTillSwitch(m_intake,false));
+    new JoystickButton(driverJoytick, 5).whileFalse(new InstantCommand(()->m_intake.StopNoteMotor()));
 
+
    // new JoystickButton(driverJoytick, 5).onTrue(new InstantCommand(()-> m_intake.degistir()));
 
-                new JoystickButton(driverJoytick, 6).whileTrue(new InstantCommand(() -> m_feeder.runtillswitch()));
+                new JoystickButton(driverJoytick, 6).whileTrue(new FeederRunTillSwitch(m_feeder, false));
                 new JoystickButton(driverJoytick, 6).whileFalse(new InstantCommand(() -> m_feeder.stop()));
+
                 new JoystickButton(driverJoytick, 8).whileTrue(new InstantCommand(() -> m_intake.runpickupmotor(0.8)));
                 new JoystickButton(driverJoytick, 8).whileFalse(new InstantCommand(() -> m_intake.runpickupmotor(0)));
-                new JoystickButton(driverJoytick, 9).whileTrue(new InstantCommand(() -> m_feeder.backward()));
+                //new JoystickButton(driverJoytick, 9).whileTrue(new InstantCommand(() -> m_feeder.backward()));
                 new JoystickButton(driverJoytick, 9).whileFalse(new InstantCommand(() -> m_feeder.stop()));
+                new JoystickButton(driverJoytick, 9).whileFalse(new InstantCommand(() -> m_intake.getNote()));
+
+
         }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/Intake/PidIntakeCommand.java

@@ -34,6 +34,6 @@ else if (position < -m_intake.getRawEncoderOutput()) {
 
   @Override
   public boolean isFinished() {
-    return false;
+    return getController().atSetpoint();
   }
 }

src/main/java/frc/robot/commands/Intake/RunTillSwitch.java

@@ -6,21 +6,25 @@
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants.values.intake;
 import frc.robot.subsystems.IntakeSubsystem;
 
 public class RunTillSwitch extends Command {
   IntakeSubsystem m_intake;
+  boolean dursunmu;
+boolean varmi = false;
 
-  public RunTillSwitch(IntakeSubsystem m_intake) {
+
+  public RunTillSwitch(IntakeSubsystem m_intake, boolean dursunmu) {
 
     this.m_intake = m_intake;
 
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -33,19 +37,32 @@ public void execute() {
     ilkswitch = m_intake.intakedetector1.get();
     ikinciswitch = m_intake.intakedetector1.get();
 
-    if(ikinciswitch && ilkswitch){
 
-m_intake.getNote();
 
-    }else{
 
-      m_intake.StopNoteMotor();
-    }
+if(!dursunmu){
 
-    SmartDashboard.putBoolean("asdadssdaasd", ilkswitch);
-    SmartDashboard.putBoolean("asdadssdaasd2222", ikinciswitch);
+  if(ikinciswitch && ilkswitch){
+
+    m_intake.getNote();
+
+        }else{
+
+          m_intake.StopNoteMotor();
+          varmi = true;
+        }
+      }
 
 
+
+    //  if(varmi){
+    //    m_intake.getNote();
+    //  }
+
+
+
+    SmartDashboard.putBoolean("asdadssdaasd", ilkswitch);
+    SmartDashboard.putBoolean("asdadssdaasd2222", ikinciswitch);
   }
 
   // Called once the command ends or is interrupted.
@@ -55,7 +72,7 @@ public void end(boolean interrupted) {}
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return dursunmu;
   }
 
 }

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

@@ -0,0 +1,36 @@
+// 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.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.Intake.PidIntakeCommand;
+import frc.robot.commands.feeder.FeederRunTillSwitch;
+import frc.robot.subsystems.FeederSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+
+// 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 fedleme extends SequentialCommandGroup {
+  /** Creates a new fedleme. */
+  public fedleme(IntakeSubsystem m_intake, FeederSubsystem m_feeder) {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(
+new PidIntakeCommand(m_intake, 1.8)
+
+.andThen(new RunCommand(()-> m_intake.getNote())
+.andThen(new FeederRunTillSwitch(m_feeder, false)
+))
+.withTimeout(2)
+
+
+
+
+    );
+  }
+}

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

@@ -0,0 +1,65 @@
+// 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.feeder;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.FeederSubsystem;
+
+public class FeederRunTillSwitch extends Command {
+  FeederSubsystem m_feeder;
+  boolean dursunmu;
+boolean varmi = false;
+
+
+  public FeederRunTillSwitch(FeederSubsystem m_feeder, boolean dursunmu) {
+
+    this.m_feeder = m_feeder;
+
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+
+    boolean ilkswitch;
+
+    ilkswitch = m_feeder.detector();
+
+
+if(!dursunmu){
+
+  if(ilkswitch){
+
+    m_feeder.backward2();
+
+        }else{
+
+          m_feeder.stop();
+          varmi = true;
+        }
+      }
+
+
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return dursunmu;
+  }
+
+}

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

@@ -15,6 +15,8 @@ public class FeederSubsystem extends SubsystemBase {
   public boolean count;
   IntakeSubsystem m_intake;
   boolean tekcalisma ;
+  boolean dolumu = false;
+
   //public AnalogInput intechedetector = new AnalogInput(0);
 
 
@@ -23,8 +25,18 @@ public FeederSubsystem() {
 
   }
 
+
+  public boolean detector() {
+      return detector.get();
+  }
+
+
   public void forward() {
-    feedmotor.set(0.8);
+    feedmotor.set(0.3);
+  }
+
+  public void backward2() {
+    feedmotor.set(-0.36);
   }
 
   public void backward() {

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

@@ -1,5 +1,6 @@
 package frc.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkBase.IdleMode;
@@ -11,9 +12,10 @@
 
 public class IntakeSubsystem extends SubsystemBase {
   // intake nota motorları
-  public static CANSparkMax intakeMotor1 = new CANSparkMax(12, MotorType.kBrushless);
+  public static WPI_VictorSPX intakeMotor1 = new WPI_VictorSPX(12);
   // intake main motor
   public static CANSparkMax intakeMotor = new CANSparkMax(Constants.ports.intake_motor_angle, MotorType.kBrushless);
+
   public RelativeEncoder IntakeEncoder;
   public DigitalInput intakedetector1 = new DigitalInput(8);
   public DigitalInput intakedetector2 = new DigitalInput(9);
@@ -50,7 +52,7 @@ public void NewIntakeMotorOutput(double value) {
   }
 
   public void getNote() {
-    intakeMotor1.set(0.3);
+    intakeMotor1.set(0.4);
   }
 
   public void degistir() {
@@ -101,6 +103,5 @@ public void periodic() {
     SmartDashboard.putBoolean("intake switch2", intakeswitch2());
 
     SmartDashboard.putBoolean("degistirme", tekcalisma);
-
   }
 }