Source Intake

Robot2024/src/main/java/com/team2813/Constants.java

@@ -40,16 +40,17 @@ public static class OperatorConstants {
 
 		//square = cross, cross = circle, circle = square
 
-		public static final Trigger climbUpButton = operatorController.povUp();
+		public static final Trigger climbUpButton = operatorController.povUp().and(() -> false);
 		public static final Trigger climbDownButton = operatorController.povDown();
 		public static final Trigger altOuttakeButton = new Trigger(() -> operatorXboxController.getLeftTriggerAxis() >= 0.5).and(() -> false);
+		public static final Trigger sourceIntake = operatorController.povUp();
 
 	}
 	public static class DriverConstants {
 		public static final int driverControllerPort = 0;
 		public static final CommandPS4Controller DRIVER_CONTROLLER = new CommandPS4Controller(driverControllerPort);
 		public static final Trigger slowmodeButton = DRIVER_CONTROLLER.L1();
-		public static final Trigger orientButton = DRIVER_CONTROLLER.R2();
+		public static final Trigger orientButton = DRIVER_CONTROLLER.R2(); // options
 		public static final Trigger spoolAutoAimButton = DRIVER_CONTROLLER.square(); // actually maps to cross
 		public static final Trigger ampIntakeButton = DRIVER_CONTROLLER.triangle(); //R2
 		public static final Trigger autoAimButton = DRIVER_CONTROLLER.R1();

Robot2024/src/main/java/com/team2813/RobotContainer.java

@@ -25,6 +25,7 @@
 import static com.team2813.Constants.OperatorConstants.shootPodium;
 import static com.team2813.Constants.OperatorConstants.shootWooferFront;
 import static com.team2813.Constants.OperatorConstants.shootWooferSide;
+import static com.team2813.Constants.OperatorConstants.sourceIntake;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
@@ -44,6 +45,7 @@
 import com.team2813.subsystems.Magazine;
 import com.team2813.subsystems.Shooter;
 import com.team2813.subsystems.ShooterPivot;
+import com.team2813.subsystems.ShooterPivot.Position;
 
 import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.wpilibj.XboxController;
@@ -206,6 +208,32 @@ private void configureBindings(AutoCommands autoCommands) {
 		shootPodium.onTrue(autoCommands.shootPodium());
 		farSpeaker.onTrue(autoCommands.farSpeaker());
 		autoAimButton.onTrue(new AutoAimCommand(shooter, shooterPivot, mag, drive));
+
+		sourceIntake.onTrue(
+			new SequentialCommandGroup(
+				new LockFunctionCommand(shooterPivot::atPosition, () -> shooterPivot.setSetpoint(Position.SOURCE_INTAKE), shooterPivot),
+				new InstantCommand(shooter::reverse, shooter)
+			)
+		);
+		sourceIntake.onFalse(
+			new SequentialCommandGroup(
+				new ParallelCommandGroup(
+					new InstantCommand(mag::reverseMag, mag),
+					new InstantCommand(intake::outtakeNote, intake)
+				),
+				new WaitCommand(0.1),
+				new ParallelCommandGroup(
+					new InstantCommand(shooter::stop, shooter),
+					new InstantCommand(intake::intake, intake),
+					new InstantCommand(mag::runOnlyMag, mag)
+				),
+				new WaitCommand(0.1),
+				new ParallelCommandGroup(
+					new InstantCommand(intake::stopIntakeMotor, intake),
+					new InstantCommand(mag::stop, mag)
+				)
+			)
+		);
 	}
 
 	public Command getAutonomousCommand() {

Robot2024/src/main/java/com/team2813/commands/DefaultShooterCommand.java

@@ -48,7 +48,7 @@ public void execute() {
 		double val = control.getAsDouble();
 		if (Math.abs(val) > DEADZONE) {
 			shooterPivot.set(ControlMode.DUTY_CYCLE, val * MULTIPLIER);
-		} else {
+		} else if (!shooterPivot.isEnabled()) {
 			shooterPivot.set(ControlMode.DUTY_CYCLE, 0);
 		}
 	}

Robot2024/src/main/java/com/team2813/subsystems/Drive.java

@@ -163,13 +163,6 @@ public Drive() {
 		Shuffleboard.getTab("swerve").add("rotation PID", facingRequest.HeadingController);
 	}
 
-	private void setLimits(int module) {
-		drivetrain.getModule(0).getDriveMotor()
-		.getConfigurator().apply(new CurrentLimitsConfigs()
-		.withSupplyCurrentLimit(40)
-		.withSupplyCurrentLimitEnable(true));
-	}
-
 	final SwerveRequest.FieldCentricFacingAngle facingRequest;
 
 	public void turnToFace(Rotation2d rotation) {

Robot2024/src/main/java/com/team2813/subsystems/Magazine.java

@@ -48,5 +48,6 @@ public void runOnlyMag() {
 
 	public void reverseMag() {
 		magMotor.set(ControlMode.DUTY_CYCLE, -0.6);
+		kickerMotor.set(ControlMode.DUTY_CYCLE, -0.6);
 	}
 }

Robot2024/src/main/java/com/team2813/subsystems/Shooter.java

@@ -58,6 +58,11 @@ public boolean atVelocity() {
 		return shooterMotor.getVelocity() - targetVelocity > -1;
 	}
 
+	public void reverse() {
+		targetVelocity = 0;
+		shooterMotor.set(ControlMode.DUTY_CYCLE, -0.2);
+	}
+
 	public void stop() {
 		targetVelocity = 0;
 		shooterMotor.set(ControlMode.VELOCITY, 0);

Robot2024/src/main/java/com/team2813/subsystems/ShooterPivot.java

@@ -70,6 +70,7 @@ public static enum Position implements MotorSubsystem.Position {
 		PODIUM(0.076660),
 		TEST(0.067871),
 		FAR_SPEAKER(0.088135),
+		SOURCE_INTAKE(0.048096),
 		BOTTOM_HARD_STOP(0.099854);
 
 		private final double pos;