Updated Code

Author: eddie

gradlew

@@ -3,7 +3,7 @@
     "front": -11.875,
     "left": -11.875
   },
-  "absoluteEncoderOffset": 123.89,
+  "absoluteEncoderOffset": 305,
   "drive": {
     "type": "sparkflex_vortex",
     "id": 4,

src/main/deploy/swerve/modules/backright.json

@@ -165,15 +165,15 @@ public void teleopPeriodic()
   public void testInit()
   {
     CommandScheduler.getInstance().cancelAll();
-    DataLogManager.start(); 
-    System.out.println("Logging started for Test Mode.");
+    // DataLogManager.start(); 
+    // System.out.println("Logging started for Test Mode.");
   }
 
   @Override
   public void testExit() {
     // Stop logging when exiting Test Mode to save space/resources
-    DataLogManager.stop();
-    System.out.println("Logging stopped.");
+    // DataLogManager.stop();
+    // System.out.println("Logging stopped.");
   }
 
   /**

src/main/java/frc/robot/Robot.java

@@ -58,7 +58,7 @@ public class RobotContainer
 {
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
-  final         CommandXboxController driverXbox = new CommandXboxController(0);
+  final CommandXboxController driverXbox = new CommandXboxController(0);
   final CommandJoystick redbuttonbox= new CommandJoystick(1);
   final CommandJoystick otherbuttonbox= new CommandJoystick(2);
   // The robot's subsystems and commands are defined here...
@@ -270,11 +270,16 @@ private void configureBindings()
     //TODO: ask Eddie how to fix these.
       redbuttonbox.button(8).whileTrue(intakeSubsystem.RunIntake());
       // Why is this subsystem function not returning a runable? check the subsystem again.
-      redbuttonbox.button(9).whileTrue(intakeStopCommand);
+      redbuttonbox.button(9).whileTrue(raiseIntakeCommand);
       redbuttonbox.button(10).whileTrue(shooterMotorSubsystem.ForwordSlowSpin(0.5));
       otherbuttonbox.button(1).whileTrue(shooterMotorSubsystem.ForwordSlowSpin(-0.5));
-      otherbuttonbox.button(3).whileTrue(shooterMotorSubsystem.ForwordSlowSpin(.75));
       otherbuttonbox.button(2).whileTrue(shooterMotorSubsystem.SpinStop());
+      otherbuttonbox.button(3).whileTrue(shooterMotorSubsystem.ForwordSlowSpin(.75));
+      otherbuttonbox.button(4).whileTrue(indexer.StopSpin());
+
+      driverXbox.b().whileTrue(indexer.StopSpin());
+      driverXbox.rightTrigger().whileTrue(intakeSubsystem.goToPositionCommand(0));
+      driverXbox.leftTrigger().whileTrue(intakeSubsystem.goToPositionCommand(25.5));
 
 
       // buttonBox2.(button5 ).onTrue(algaeArm.ArmStop().andThen(roller.CoralStop()).andThen(climber.ClimbStop()));

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

@@ -13,7 +13,7 @@ public IntakeGoToPositionNegPoint8Command(IntakeSubsystem subsystem) {
 
     @Override
     public void initialize() {
-        intake_subsystem.goToPositionCommand(-0.8);
+        intake_subsystem.goToPositionCommand(25.5);
     }
 
     @Override

src/main/java/frc/robot/commands/IntakeGoToPositionNegPoint8Command.java

@@ -67,6 +67,11 @@ public Command BackwardSpin() {
         );
     }
 
+    public Command StopSpin() {
+        return this.runOnce(
+            () -> runDutyCycleMotor(-IndexerConstants.SINGLE_MOTOR_SPEED)// Run reverse while held
+        );
+    }
     // public Command BackwardSlowSpin() {
     //     return this.runEnd(
     //         () -> runDutyCycleMotor(-0.2),