From 83ea560d2ec79a36e68f33130496e7c9e8896548 Mon Sep 17 00:00:00 2001
From: SorinEngUS <esorinfrus@gmail.com>
Date: Tue, 28 Nov 2023 17:12:37 -0800
Subject: [PATCH] made button

---
 src/main/java/frc/robot/RobotContainer.java               | 6 ++++++
 src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java | 2 ++
 2 files changed, 8 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c09eaf6..3a49c49 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,8 +6,10 @@
 
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.Commands.ElevatorCommand;
 import frc.robot.Commands.IntakeCommand;
 import frc.robot.Commands.StopIntakeMotorCommand;
+import frc.robot.Subsystems.ElevatorSubsystem;
 import frc.robot.Subsystems.IntakeSubsystem;
 
 /**
@@ -24,6 +26,7 @@ public class RobotContainer {
 
   private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
 
+  private final ElevatorSubsystem elevatorSubsystem = new ElevatorSubsystem();
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
@@ -70,5 +73,8 @@ private void configureButtonBindings() {
 
     // stop the motors
     driverB.x().onTrue(new StopIntakeMotorCommand(intakeSubsystem));
+
+    driverB.y().onTrue(new ElevatorCommand(elevatorSubsystem, 10));
+    driverB.b().onTrue(new ElevatorCommand(elevatorSubsystem, 5));
   }
 }
diff --git a/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java
index 3d90dbc..86e4cfd 100644
--- a/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java
+++ b/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.Subsystems;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonFX;
 
 import edu.wpi.first.math.controller.PIDController;
@@ -48,6 +49,7 @@ public void periodic() {
     motorPower = controller.calculate(targetHeight);
 
     leftMotor.set(TalonFXControlMode.PercentOutput, motorPower);
+    rightMotor.set(TalonFXControlMode.PercentOutput, motorPower);
     currentHeight = ticksToInches(-leftMotor.getSelectedSensorPosition());
   }