Temporary manual commands for intake, these are TEMPORARY, delete as soon as limit switches are in place. These are NOT GOOD. These are THE BARE NECESITY.

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

@@ -70,9 +70,13 @@ public class RobotContainer {
     m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
     m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
 
-    m_driverController.y().onTrue(intakeSubsystem.deployCommand());
+    /*m_driverController.y().onTrue(intakeSubsystem.deployCommand());
     m_driverController.a().onTrue(intakeSubsystem.retractCommand());
-    m_driverController.b().onTrue(intakeSubsystem.reverseCommand());
+    m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/
+
+    m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
+    m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
+    m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
   }
 
   /**

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

@@ -0,0 +1,62 @@
+// 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 frc.robot.subsystems.IntakeSubsystem;
+
+import javax.lang.model.util.ElementScanner14;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** An example command that uses an example subsystem. */
+public class ManualIntake extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final IntakeSubsystem m_subsystem;
+  private final XboxController m_XboxController;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ManualIntake(IntakeSubsystem subsystem, XboxController xboxController) {
+    m_subsystem = subsystem;
+    m_XboxController = xboxController;
+    // 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() {
+    if(m_XboxController.getRightBumper()==true)
+    {
+      m_subsystem.extend();
+    }
+    else if(m_XboxController.getLeftBumper()==true)
+    {
+      m_subsystem.retract();
+    }
+    else
+    {
+      m_subsystem.neutral();
+    }
+  }
+
+  // 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/subsystems/IntakeSubsystem.java

@@ -69,12 +69,12 @@ public class IntakeSubsystem extends TestableSubsystem {
 
   public Command deployCommand()
   {
-    return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(50), () -> setSpeed(0), this));
+    return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(.5), () -> setSpeed(0), this));
   }
 
   public Command reverseCommand()
   {
-    return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(-50), () -> setSpeed(0), this));
+    return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(-.5), () -> setSpeed(0), this));
   }
 
   public Command retractCommand()
@@ -82,6 +82,21 @@ public class IntakeSubsystem extends TestableSubsystem {
     return this.runOnce(() -> setSpeed(0)).andThen(new FunctionalCommand(this::retract, this::retract, interrupted -> neutral(), this::isRetracted, this));
   }
 
+  public Command startSpeedCommand()
+  {
+    return this.runOnce(() -> setSpeed(.5));
+  }
+
+  public Command killSpeedCommand()
+  {
+    return this.runOnce(() -> setSpeed(0));
+  }
+
+  public Command revSpeedCommand()
+  {
+    return this.runOnce(() -> setSpeed(-.5));
+  }
+
   @PostTest(name = "A friendly name", enabled = true)
   public void myFailingPostTest(){
     assertThat(true).isFalse();