From c92ec8653432445677527ba4ab9f80dc53fd254f Mon Sep 17 00:00:00 2001
From: MorphaxTheDeveloper <cinarfidanboy@gmail.com>
Date: Thu, 7 Mar 2024 15:46:15 +0300
Subject: [PATCH] =?UTF-8?q?intake=20at=C4=B1s?=
MIME-Version: 1.0
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---
 src/main/java/frc/robot/RobotContainer.java       |  5 +++++
 .../robot/commands/Intake/PidIntakeCommand.java   |  2 +-
 .../frc/robot/subsystems/IntakeSubsystem.java     | 15 ++++++++++++---
 3 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 63817bb..33d599a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -70,10 +70,13 @@ private void configureBindings() {
    new JoystickButton(driverJoytick, 10).whileFalse(new InstantCommand(()->m_shooter.ShooterThrowAllMotorStop()));
    
    new JoystickButton(driverJoytick, 1).whileTrue(new dalhacan(m_intake, m_shooter));
+   new JoystickButton(driverJoytick, 1).whileTrue(new InstantCommand(()->m_intake.degistirmee()));
     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, 2).whileTrue(new InstantCommand(()->m_intake.reset()));
     new JoystickButton(driverJoytick, 2).whileTrue(new InstantCommand(()->m_shooter.AngleEncoderReset()));
 
@@ -93,6 +96,8 @@ private void configureBindings() {
     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, 10).whileTrue(new InstantCommand(()-> m_feeder.backward()));
+    new JoystickButton(driverJoytick, 10).whileFalse(new InstantCommand(()-> m_feeder.stop()));
   }
 
 
diff --git a/src/main/java/frc/robot/commands/Intake/PidIntakeCommand.java b/src/main/java/frc/robot/commands/Intake/PidIntakeCommand.java
index 387f66f..c34dd00 100644
--- a/src/main/java/frc/robot/commands/Intake/PidIntakeCommand.java
+++ b/src/main/java/frc/robot/commands/Intake/PidIntakeCommand.java
@@ -26,7 +26,7 @@ public PidIntakeCommand(IntakeSubsystem m_intake, double position) {
           else if (position < -m_intake.getRawEncoderOutput()) {
             m_intake.NewIntakeMotorOutput(-output * 0.8);
           }
-          
+        
         });
         addRequirements(m_intake);
         getController().setTolerance(Constants.values.intake.PidIntakeTolerance);
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
index 8fd70d9..ba356f1 100644
--- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -57,15 +57,18 @@ public void getNote(){
 
 
 public void degistir(){
-tekcalisma = true;
+tekcalisma = false;
 }
 
+public void degistirmee(){
+tekcalisma = true;
+}
 
 
-    public void runpickupmotorswitch(double a){
-
 
 
+    public void runpickupmotorswitch(double a){
+if(tekcalisma){
 while((intakedetector1.get() && intakedetector2.get())){
       intakeMotor1.set(a);
   }
@@ -73,6 +76,12 @@ public void runpickupmotorswitch(double a){
 
   intakeMotor1.set(0); 
 }
+
+
+}
+
+
+