From 9c85cd1c8a7a86d8d42eb6c678f6ce473f736f64 Mon Sep 17 00:00:00 2001
From: TheRealGrayden <nmunier65@gmail.com>
Date: Mon, 13 Apr 2026 19:57:27 -0400
Subject: [PATCH] command changes

---
 src/main/java/frc/robot/RobotContainer.java   | 14 ++----
 src/main/java/frc/robot/commands/Reverse.java | 50 +++++++++++++++++++
 2 files changed, 55 insertions(+), 9 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/Reverse.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d6d68cd..3a9f8cf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -13,9 +13,6 @@ import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.AutoShootCommandChassisTurret;
 import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
 import frc.robot.commands.AutoTurretCommand;
-import frc.robot.commands.RelayCommand;
-import frc.robot.commands.SetDeflectorCommand;
-import frc.robot.commands.ZoneCheck;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.HopperSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
@@ -72,21 +69,20 @@ public class RobotContainer {
      *
      */
     private void configureBindings() {
-        m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
+        /*m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
         m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
         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.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));*/
 
         m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
-        //m_driverController.a().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
-        // m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
 
         m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
         m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake()));
-        m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
+        //m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
         m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
         m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
-        m_driverController.b().toggleOnTrue(new ZoneCheck(driveSubsystem));
+        m_driverController.b().onTrue(Commands.parallel(intakeSubsystem.reverseIntake(), null));
+        m_driverController.y().onTrue(intakeSubsystem.deploy());
     }
 
     /**
diff --git a/src/main/java/frc/robot/commands/Reverse.java b/src/main/java/frc/robot/commands/Reverse.java
new file mode 100644
index 0000000..cb3bb66
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Reverse.java
@@ -0,0 +1,50 @@
+// 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.Command;
+import frc.robot.subsystems.HopperSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+
+/**
+ * An example command that uses an example subsystem.
+ */
+public class Reverse extends Command {
+
+    private int m_subsystem;
+
+    /**
+     * Creates a new ExampleCommand.
+     *
+     * @param subsystem The subsystem used by this command.
+     */
+    public Reverse() {
+        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) {
+        hopperSubsystem.stopKicker();
+        hopperSubsystem.spindexerOff();
+    }
+
+    // Returns true when the command should end.
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}