Added stopper and changed constants more

src/main/java/frc/robot/Commands/StopIntakeMotorCommand.java

@@ -0,0 +1,41 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.Subsystems.IntakeSubsystem;
+
+public class StopIntakeMotorCommand extends CommandBase {
+  IntakeSubsystem intakeSubsystem;
+
+  /** Creates a new StopIntakeMotorCommand. */
+  public StopIntakeMotorCommand(IntakeSubsystem intakeSubsystem) {
+    this.intakeSubsystem = intakeSubsystem;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(intakeSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    // STOP ALL MOTORS IN INITIALIZE
+    intakeSubsystem.SetMotorPower(0);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // 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 false;
+  }
+}

src/main/java/frc/robot/Constants.java

@@ -25,7 +25,7 @@ public static class Intake {
     public static final double CUBE_UNLOADING_SPEED = -.5d;
     public static final double CONE_UNLOADING_SPEED = .5d;
 
-    public static final double CUBE_STATOR_LIMIT = 100;
-    public static final double CONE_STATOR_LIMIT = 100;
+    public static final double CUBE_STATOR_LIMIT = 90;
+    public static final double CONE_STATOR_LIMIT = 70;
   }
 }

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

@@ -7,6 +7,7 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Commands.IntakeCommand;
+import frc.robot.Commands.StopIntakeMotorCommand;
 import frc.robot.Subsystems.IntakeSubsystem;
 
 /**
@@ -22,7 +23,6 @@ public class RobotContainer {
   public CommandXboxController driverB = new CommandXboxController(0);
 
   private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
-
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -62,9 +62,13 @@ public void containerMatchStarting() {
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
+    // intake and outtake
     driverB.rightTrigger().onTrue(new IntakeCommand(intakeSubsystem, false, true));
     driverB.leftTrigger().onTrue(new IntakeCommand(intakeSubsystem, true, true));
     driverB.rightBumper().onTrue(new IntakeCommand(intakeSubsystem, false, false));
     driverB.leftBumper().onTrue(new IntakeCommand(intakeSubsystem, true, false));
+
+    // stop the motors
+    driverB.x().onTrue(new StopIntakeMotorCommand(intakeSubsystem));
   }
 }