intake/outake commands sequentail stuff

src/main/java/frc/Subsystems/IntakeSubsystem.java

@@ -16,21 +16,37 @@
 public class IntakeSubsystem extends SubsystemBase {
   public TalonFX IntakeMotor;
   public double IntakeMotorSpeed;
+  public double OutakeMotorPower;
+  public boolean Intake = false;
 
 
   /** Creates a new IntakeSubsystem. */
   public IntakeSubsystem() {
     IntakeMotor = new TalonFX(Constants.Intake.INTAKE_MOTOR_PORT);
+
   }
 
   public void setIntakePower(double IntakeMotorSpeed){
+    Intake = true;
     this.IntakeMotorSpeed = IntakeMotorSpeed;
   }
 
+  public void setOutakePower(double OutakeMotorPower){
+    Intake = false;
+    this.OutakeMotorPower = OutakeMotorPower;
+
+  }
+
+
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    IntakeMotor.set(ControlMode.PercentOutput, IntakeMotorSpeed);
+    if(!Intake){
+      IntakeMotor.set(ControlMode.PercentOutput, IntakeMotorSpeed);
+    } else{
+      IntakeMotor.set(ControlMode.PercentOutput, OutakeMotorPower);
+    }  
+
   }
 }

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

@@ -8,23 +8,18 @@
 import frc.Subsystems.IntakeSubsystem;
 
 public class IntakeCommand extends CommandBase {
-
   private final IntakeSubsystem subsystem;
 
-  /** Creates a new IntakeCommand. */
   public IntakeCommand(IntakeSubsystem subsystem) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.subsystem = subsystem;
 
     addRequirements(subsystem);
-
   }
 
   // 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
@@ -34,9 +29,7 @@ public void execute() {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {
-    subsystem.setIntakePower(0);
-  }
+  public void end(boolean interrupted) {}
 
   // Returns true when the command should end.
   @Override

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

@@ -0,0 +1,28 @@
+// 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.SequentialCommandGroup;
+import frc.Subsystems.IntakeSubsystem;
+
+
+public class IntakeSequentailCommands extends SequentialCommandGroup{
+
+  private final IntakeSubsystem subsystem;
+
+  /** Creates a new IntakeCommand. */
+  public IntakeSequentailCommands(IntakeSubsystem subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.subsystem = subsystem;
+
+    addRequirements(subsystem);
+
+    addCommands(
+      new IntakeCommand(subsystem), 
+    new OutakeCommand(subsystem)
+    );
+
+  }
+}

src/main/java/frc/Commands/IntakeCommand.java → src/main/java/frc/robot/Commands/OutakeCommand.java

@@ -2,14 +2,20 @@
 // 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.Commands;
+package frc.robot.Commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.Subsystems.IntakeSubsystem;
 
-public class IntakeCommand extends CommandBase {
-  /** Creates a new IntakeCommand. */
-  public IntakeCommand() {
+public class OutakeCommand extends CommandBase {
+  private final IntakeSubsystem subsystem;
+
+  /** Creates a new OutakeCommand. */
+  public OutakeCommand(IntakeSubsystem subsystem) {
     // Use addRequirements() here to declare subsystem dependencies.
+    this.subsystem = subsystem;
+
+    addRequirements(subsystem);
   }
 
   // Called when the command is initially scheduled.
@@ -18,7 +24,9 @@ public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    subsystem.setOutakePower(-0.5);
+  }
 
   // Called once the command ends or is interrupted.
   @Override

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

@@ -7,6 +7,8 @@
 import frc.Subsystems.ElevatorSubsystem;
 import frc.Subsystems.IntakeSubsystem;
 import frc.robot.Commands.IntakeCommand;
+import frc.robot.Commands.IntakeSequentailCommands;
+import frc.robot.Commands.OutakeCommand;
 
 
 /**
@@ -49,6 +51,9 @@ public RobotContainer() {
    driverA.a().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 3d));
 
    driverA.rightTrigger().whileTrue(new IntakeCommand(intakeSubsystem));
+   driverA.rightBumper().whileTrue(new OutakeCommand(intakeSubsystem));
+
+   driverA.leftBumper().whileTrue(new IntakeSequentailCommands(intakeSubsystem));
  }