From 9d0057ac6505d3678e7afc6ad2dee5f4134fb624 Mon Sep 17 00:00:00 2001
From: amrrao <amrrao@nuevaschool.org>
Date: Fri, 28 Jan 2022 18:20:52 -0800
Subject: [PATCH 1/8] made indexer off command

---
 .../org/usfirst/frc4904/robot/RobotMap.java   |  5 +++++
 .../frc4904/robot/commands/IndexerOff.java    |  0
 .../frc4904/robot/commands/IndexerOn.java     |  0
 .../robot/subsystems/MotorTestSubsystem.java  | 21 +++++++++++++++++++
 .../robot/subsystems/SubsystemBase.java       |  0
 5 files changed, 26 insertions(+)
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/subsystems/SubsystemBase.java

diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
index dd4b24d..4997cc4 100644
--- a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
+++ b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -3,6 +3,8 @@
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import org.usfirst.frc4904.standard.custom.controllers.CustomJoystick;
 import org.usfirst.frc4904.standard.custom.controllers.CustomXbox;
+import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonFX;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
 
 public class RobotMap {
     public static class Port {
@@ -12,6 +14,7 @@ public static class HumanInput {
         }
 
         public static class CANMotor {
+            public static final int indexerMotor = -1; // TODO: set port
         }
 
         public static class PWM {
@@ -51,6 +54,7 @@ public static class Turn {
     }
 
     public static class Component {
+        public static Motor indexerMotor;
     }
 
     public static class Input {
@@ -70,5 +74,6 @@ public RobotMap() {
         HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController);
 		HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick);
 
+        Component.indexerMotor = new Motor("indexerMotor", false, new CANTalonFX(Port.CANMotor.indexerMotor));
     }
 }
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
new file mode 100644
index 0000000..e69de29
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java
new file mode 100644
index 0000000..e69de29
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java
new file mode 100644
index 0000000..a79a863
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java
@@ -0,0 +1,21 @@
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+
+//motor code to turn on and off
+//import org.usfirst.frc4904.standard.subsystems.motor;
+
+
+public class MotorTestSubsystem extends MotorController {
+    Motor motor1 = new motor();
+    for (MotorController motor : motors) {
+        if (motor instanceof IMotorController)
+            ((IMotorController) motor).enableVoltageCompensation(true);
+        motor.set(5); // Start all motors with 5 speed
+
+        @Override
+        public void stopMotor() {
+            for (MotorController motor : motors) {
+                motor.stopMotor();
+            }
+        }
+    
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/SubsystemBase.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/SubsystemBase.java
new file mode 100644
index 0000000..e69de29

From 071ecd87fae373d3cf838ba14bb542e7e916c0e5 Mon Sep 17 00:00:00 2001
From: amrrao <amrrao@nuevaschool.org>
Date: Sun, 30 Jan 2022 09:49:20 -0800
Subject: [PATCH 2/8] made indexer commands

---
 build.gradle                                  |  2 +-
 .../robot/subsystems/MotorTestSubsystem.java  | 21 -------------------
 2 files changed, 1 insertion(+), 22 deletions(-)
 delete mode 100644 src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java

diff --git a/build.gradle b/build.gradle
index 9c0052a..9310189 100644
--- a/build.gradle
+++ b/build.gradle
@@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.1.1"
+    id "edu.wpi.first.GradleRIO" version "2022.2.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java
deleted file mode 100644
index a79a863..0000000
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/MotorTestSubsystem.java
+++ /dev/null
@@ -1,21 +0,0 @@
-import edu.wpi.first.wpilibj.motorcontrol.MotorController;
-
-//motor code to turn on and off
-//import org.usfirst.frc4904.standard.subsystems.motor;
-
-
-public class MotorTestSubsystem extends MotorController {
-    Motor motor1 = new motor();
-    for (MotorController motor : motors) {
-        if (motor instanceof IMotorController)
-            ((IMotorController) motor).enableVoltageCompensation(true);
-        motor.set(5); // Start all motors with 5 speed
-
-        @Override
-        public void stopMotor() {
-            for (MotorController motor : motors) {
-                motor.stopMotor();
-            }
-        }
-    
-}
\ No newline at end of file

From 5c649edc670f8cfadd06066ed91c4ec048b0496b Mon Sep 17 00:00:00 2001
From: amrrao <amrrao@nuevaschool.org>
Date: Sun, 30 Jan 2022 10:10:34 -0800
Subject: [PATCH 3/8] Added indexer off and on commands

---
 .../org/usfirst/frc4904/robot/RobotMap.java   |  3 ++-
 .../frc4904/robot/commands/IndexerOff.java    | 21 +++++++++++++++++++
 2 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
index 4997cc4..def10cf 100644
--- a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
+++ b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -55,6 +55,7 @@ public static class Turn {
 
     public static class Component {
         public static Motor indexerMotor;
+        public static Motor motor;
     }
 
     public static class Input {
@@ -76,4 +77,4 @@ public RobotMap() {
 
         Component.indexerMotor = new Motor("indexerMotor", false, new CANTalonFX(Port.CANMotor.indexerMotor));
     }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
index e69de29..b8f1c75 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
@@ -0,0 +1,21 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
+public class IndexerOff extends MotorIdle {
+
+  /**
+   * Set motor speed to zero
+   * 
+   * @param motor The motor to manipulate
+   */
+  public IndexerOff(Motor motor) {
+    super(motor, 0.0);
+  }
+
+  public IndexerOff() {
+    super(RobotMap.Component.motor, 0.0);
+  }
+}

From 116141569005564e00d3298513393f888fd03d2e Mon Sep 17 00:00:00 2001
From: amrrao <amrrao@nuevaschool.org>
Date: Sun, 30 Jan 2022 10:14:17 -0800
Subject: [PATCH 4/8] added on and off indexer commands

---
 .../org/usfirst/frc4904/robot/commands/IndexerOn.java | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java
index e69de29..2d1355b 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java
@@ -0,0 +1,11 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+public class IndexerOn extends MotorConstant {
+    public final static double DEFAULT_INTAKE_MOTOR_SPEED = 0.5; //TODO: needs value
+    public IndexerOn() {
+        super("IndexerOn", RobotMap.Component.motor, DEFAULT_INTAKE_MOTOR_SPEED);
+    }
+}

From 7f094215d453c1cbb05947aa24e825401f31bc8b Mon Sep 17 00:00:00 2001
From: amrrao <amrrao@nuevaschool.org>
Date: Sun, 30 Jan 2022 15:07:27 -0800
Subject: [PATCH 5/8] made requested changes to indexer commands

---
 .../java/org/usfirst/frc4904/robot/RobotMap.java     |  2 +-
 .../usfirst/frc4904/robot/commands/IndexerOff.java   | 12 +++---------
 .../frc4904/robot/subsystems/SubsystemBase.java      |  0
 3 files changed, 4 insertions(+), 10 deletions(-)
 delete mode 100644 src/main/java/org/usfirst/frc4904/robot/subsystems/SubsystemBase.java

diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
index def10cf..312c112 100644
--- a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
+++ b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -75,6 +75,6 @@ public RobotMap() {
         HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController);
 		HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick);
 
-        Component.indexerMotor = new Motor("indexerMotor", false, new CANTalonFX(Port.CANMotor.indexerMotor));
+        Component.indexerMotor = new Motor("indexerMotor", false, new CANTalonFX(Port.CANMotor.indexerMotor)); // TODO: Need to check motor inversion
     }
 }
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
index b8f1c75..dda14af 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
@@ -2,20 +2,14 @@
 
 import org.usfirst.frc4904.robot.RobotMap;
 import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
-import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
 
 public class IndexerOff extends MotorIdle {
 
   /**
-   * Set motor speed to zero
-   * 
-   * @param motor The motor to manipulate
+   * Set indexer motor speed to zero
    */
-  public IndexerOff(Motor motor) {
-    super(motor, 0.0);
-  }
-
   public IndexerOff() {
-    super(RobotMap.Component.motor, 0.0);
+    super(RobotMap.Component.indexerMotor);
   }
 }
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/SubsystemBase.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/SubsystemBase.java
deleted file mode 100644
index e69de29..0000000

From d1813bb61b15a2a3e823917671535118d666d58c Mon Sep 17 00:00:00 2001
From: Adam <adaazev@nuevaschool.org>
Date: Sun, 13 Feb 2022 12:51:51 -0800
Subject: [PATCH 6/8] broken indexer

---
 .../org/usfirst/frc4904/robot/RobotMap.java   | 15 ++++---
 .../robot/commands/ExampleCommand.java        | 43 -------------------
 .../commands/indexer/IndexerControl.java      | 10 +++++
 .../robot/commands/indexer/IndexerCustom.java | 10 +++++
 .../commands/{ => indexer}/IndexerOff.java    |  2 +-
 .../commands/{ => indexer}/IndexerOn.java     |  2 +-
 .../robot/subsystems/ExampleSubsystem.java    | 22 ----------
 .../frc4904/robot/subsystems/Indexer.java     | 20 +++++++++
 8 files changed, 52 insertions(+), 72 deletions(-)
 delete mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/ExampleCommand.java
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java
 rename src/main/java/org/usfirst/frc4904/robot/commands/{ => indexer}/IndexerOff.java (84%)
 rename src/main/java/org/usfirst/frc4904/robot/commands/{ => indexer}/IndexerOn.java (87%)
 delete mode 100644 src/main/java/org/usfirst/frc4904/robot/subsystems/ExampleSubsystem.java
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java

diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
index 312c112..26161c0 100644
--- a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
+++ b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -1,10 +1,10 @@
 package org.usfirst.frc4904.robot;
-
-import edu.wpi.first.wpilibj2.command.Subsystem;
 import org.usfirst.frc4904.standard.custom.controllers.CustomJoystick;
 import org.usfirst.frc4904.standard.custom.controllers.CustomXbox;
 import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonFX;
 import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+import org.usfirst.frc4904.robot.subsystems.Indexer;
+
 
 public class RobotMap {
     public static class Port {
@@ -14,7 +14,9 @@ public static class HumanInput {
         }
 
         public static class CANMotor {
-            public static final int indexerMotor = -1; // TODO: set port
+            public static final int indexerMotor1 = -1; // TODO: set port
+            public static final int indexerMotor2 = -1; // TODO: set port
+
         }
 
         public static class PWM {
@@ -54,7 +56,7 @@ public static class Turn {
     }
 
     public static class Component {
-        public static Motor indexerMotor;
+        public static Indexer indexer;
         public static Motor motor;
     }
 
@@ -75,6 +77,9 @@ public RobotMap() {
         HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController);
 		HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick);
 
-        Component.indexerMotor = new Motor("indexerMotor", false, new CANTalonFX(Port.CANMotor.indexerMotor)); // TODO: Need to check motor inversion
+        Component.indexer = new Indexer(new Motor("Indexer 1", false, new CANTalonFX(Port.CANMotor.indexerMotor1)), new Motor("Indexer 2", false, new CANTalonFX(Port.CANMotor.indexerMotor2)));
+        
+       
+
     }
 }
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/ExampleCommand.java b/src/main/java/org/usfirst/frc4904/robot/commands/ExampleCommand.java
deleted file mode 100644
index 90c8cdb..0000000
--- a/src/main/java/org/usfirst/frc4904/robot/commands/ExampleCommand.java
+++ /dev/null
@@ -1,43 +0,0 @@
-// 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 org.usfirst.frc4904.robot.commands;
-
-import org.usfirst.frc4904.robot.subsystems.ExampleSubsystem;
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
-/** An example command that uses an example subsystem. */
-public class ExampleCommand extends CommandBase {
-  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final ExampleSubsystem m_subsystem;
-
-  /**
-   * Creates a new ExampleCommand.
-   *
-   * @param subsystem The subsystem used by this command.
-   */
-  public ExampleCommand(ExampleSubsystem subsystem) {
-    m_subsystem = subsystem;
-    // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(subsystem);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // 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;
-  }
-}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java
new file mode 100644
index 0000000..2dbd25d
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java
@@ -0,0 +1,10 @@
+package org.usfirst.frc4904.robot.commands.indexer; 
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+import org.usfirst.frc4904.robot.subsystems.Indexer;
+
+public class IndexerControl extends MotorConstant {
+    public IndexerControl(double Speed) {
+        super(RobotMap.Component.indexer.indexerMotor1, Speed)
+    }
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java
new file mode 100644
index 0000000..2e9fc62
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java
@@ -0,0 +1,10 @@
+package org.usfirst.frc4904.robot.commands.indexer; 
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+import org.usfirst.frc4904.robot.subsystems.Indexer;
+
+public class IndexerCustom extends MotorConstant {
+    public IndexerCustom(double Speed1, double Speed2) {
+        super("IndexerOn", RobotMap.Component.indexer.indexerMotor1, Indexer.DEFAULT_INDEXER_SPEED);
+    }
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java
similarity index 84%
rename from src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
rename to src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java
index dda14af..85452cb 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc4904.robot.commands;
+package org.usfirst.frc4904.robot.commands.indexer;
 
 import org.usfirst.frc4904.robot.RobotMap;
 import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
similarity index 87%
rename from src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java
rename to src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
index 2d1355b..e1dc1bf 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
@@ -1,4 +1,4 @@
-package org.usfirst.frc4904.robot.commands;
+package org.usfirst.frc4904.robot.commands.indexer;
 
 import org.usfirst.frc4904.robot.RobotMap;
 import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/ExampleSubsystem.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/ExampleSubsystem.java
deleted file mode 100644
index 54f569f..0000000
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/ExampleSubsystem.java
+++ /dev/null
@@ -1,22 +0,0 @@
-// 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 org.usfirst.frc4904.robot.subsystems;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class ExampleSubsystem extends SubsystemBase {
-  /** Creates a new ExampleSubsystem. */
-  public ExampleSubsystem() {}
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-
-  @Override
-  public void simulationPeriodic() {
-    // This method will be called once per scheduler run during simulation
-  }
-}
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
new file mode 100644
index 0000000..563eaa2
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
@@ -0,0 +1,20 @@
+// 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 org.usfirst.frc4904.robot.subsystems;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
+
+public class Indexer extends SubsystemBase {
+
+  public static final double DEFAULT_INDEXER_SPEED = .5; //TODO: Set value
+  public final Motor indexerMotor1;
+  public final Motor indexerMotor2;
+  public Indexer(Motor indexerMotor1, Motor indexerMotor2) {
+    this.indexerMotor1 = indexerMotor1;
+		this.indexerMotor2 = indexerMotor2;
+  }
+}

From ae1c8fcd5a6a29a00e38e88d45612176391e1011 Mon Sep 17 00:00:00 2001
From: Adam <adaazev@nuevaschool.org>
Date: Sun, 13 Feb 2022 13:25:08 -0800
Subject: [PATCH 7/8] fixed indexer two motor

---
 .../robot/commands/indexer/IndexerControl.java     | 10 ----------
 .../robot/commands/indexer/IndexerCustom.java      | 10 ----------
 .../frc4904/robot/commands/indexer/IndexerOff.java |  9 +++++++--
 .../frc4904/robot/commands/indexer/IndexerOn.java  |  8 +++-----
 .../frc4904/robot/commands/indexer/IndexerSet.java | 14 ++++++++++++++
 .../usfirst/frc4904/robot/subsystems/Indexer.java  |  1 -
 6 files changed, 24 insertions(+), 28 deletions(-)
 delete mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java
 delete mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerSet.java

diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java
deleted file mode 100644
index 2dbd25d..0000000
--- a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerControl.java
+++ /dev/null
@@ -1,10 +0,0 @@
-package org.usfirst.frc4904.robot.commands.indexer; 
-import org.usfirst.frc4904.robot.RobotMap;
-import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
-import org.usfirst.frc4904.robot.subsystems.Indexer;
-
-public class IndexerControl extends MotorConstant {
-    public IndexerControl(double Speed) {
-        super(RobotMap.Component.indexer.indexerMotor1, Speed)
-    }
-}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java
deleted file mode 100644
index 2e9fc62..0000000
--- a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerCustom.java
+++ /dev/null
@@ -1,10 +0,0 @@
-package org.usfirst.frc4904.robot.commands.indexer; 
-import org.usfirst.frc4904.robot.RobotMap;
-import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
-import org.usfirst.frc4904.robot.subsystems.Indexer;
-
-public class IndexerCustom extends MotorConstant {
-    public IndexerCustom(double Speed1, double Speed2) {
-        super("IndexerOn", RobotMap.Component.indexer.indexerMotor1, Indexer.DEFAULT_INDEXER_SPEED);
-    }
-}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java
index 85452cb..2552bca 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java
@@ -3,13 +3,18 @@
 import org.usfirst.frc4904.robot.RobotMap;
 import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
 
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 
-public class IndexerOff extends MotorIdle {
+
+public class IndexerOff extends ParallelCommandGroup {
 
   /**
    * Set indexer motor speed to zero
    */
   public IndexerOff() {
-    super(RobotMap.Component.indexerMotor);
+    this.addCommands(
+      new MotorIdle(RobotMap.Component.indexer.indexerMotor1),
+      new MotorIdle(RobotMap.Component.indexer.indexerMotor2)
+    );
   }
 }
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
index e1dc1bf..1b7bef4 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
@@ -1,11 +1,9 @@
 package org.usfirst.frc4904.robot.commands.indexer;
 
-import org.usfirst.frc4904.robot.RobotMap;
-import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+import org.usfirst.frc4904.robot.subsystems.Indexer;
 
-public class IndexerOn extends MotorConstant {
-    public final static double DEFAULT_INTAKE_MOTOR_SPEED = 0.5; //TODO: needs value
+public class IndexerOn extends IndexerSet {
     public IndexerOn() {
-        super("IndexerOn", RobotMap.Component.motor, DEFAULT_INTAKE_MOTOR_SPEED);
+        super(Indexer.DEFAULT_INDEXER_SPEED, Indexer.DEFAULT_INDEXER_SPEED);
     }
 }
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerSet.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerSet.java
new file mode 100644
index 0000000..4d31118
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerSet.java
@@ -0,0 +1,14 @@
+package org.usfirst.frc4904.robot.commands.indexer; 
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+
+
+public class IndexerSet extends ParallelCommandGroup {
+    public IndexerSet(double speed1, double speed2) {
+        this.addCommands(
+            new MotorConstant(RobotMap.Component.indexer.indexerMotor1, speed1),
+            new MotorConstant(RobotMap.Component.indexer.indexerMotor2, speed2)
+        );
+    }
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
index 563eaa2..38eed4c 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
@@ -4,7 +4,6 @@
 
 package org.usfirst.frc4904.robot.subsystems;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import org.usfirst.frc4904.robot.RobotMap;
 import org.usfirst.frc4904.standard.subsystems.motor.Motor;
 
 

From 19103faab59d2b1ef7aa711074ea8e9ae0113fe6 Mon Sep 17 00:00:00 2001
From: Adam <adaazev@nuevaschool.org>
Date: Sun, 13 Feb 2022 14:32:35 -0800
Subject: [PATCH 8/8] added indexer reverse command

---
 .../usfirst/frc4904/robot/commands/indexer/IndexerOn.java  | 2 --
 .../frc4904/robot/commands/indexer/IndexerReverse.java     | 7 +++++++
 .../java/org/usfirst/frc4904/robot/subsystems/Indexer.java | 1 +
 3 files changed, 8 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerReverse.java

diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
index 1b7bef4..687aeb4 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java
@@ -1,7 +1,5 @@
 package org.usfirst.frc4904.robot.commands.indexer;
-
 import org.usfirst.frc4904.robot.subsystems.Indexer;
-
 public class IndexerOn extends IndexerSet {
     public IndexerOn() {
         super(Indexer.DEFAULT_INDEXER_SPEED, Indexer.DEFAULT_INDEXER_SPEED);
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerReverse.java b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerReverse.java
new file mode 100644
index 0000000..65a4132
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerReverse.java
@@ -0,0 +1,7 @@
+package org.usfirst.frc4904.robot.commands.indexer;
+import org.usfirst.frc4904.robot.subsystems.Indexer;
+public class IndexerReverse extends IndexerSet {
+    public IndexerReverse() {
+        super(Indexer.DEFAULT_REVERSE_INDEXER_SPEED, Indexer.DEFAULT_REVERSE_INDEXER_SPEED);
+    }
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
index 38eed4c..5eea275 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java
@@ -10,6 +10,7 @@
 public class Indexer extends SubsystemBase {
 
   public static final double DEFAULT_INDEXER_SPEED = .5; //TODO: Set value
+  public static final double DEFAULT_REVERSE_INDEXER_SPEED = -DEFAULT_INDEXER_SPEED;
   public final Motor indexerMotor1;
   public final Motor indexerMotor2;
   public Indexer(Motor indexerMotor1, Motor indexerMotor2) {