From 5539beefefdf6ffbc84e1f5fa62d9325a78c3d31 Mon Sep 17 00:00:00 2001
From: Violet Su <violetnsu@gmail.com>
Date: Mon, 28 Oct 2024 19:32:44 -0700
Subject: [PATCH 01/13] Co-authored-by: Venkata Siva Ramisetty
 <Ace-Kat@users.noreply.github.com>

---
 src/main/java/frc/robot/subsystems/Piper.java | 131 ++++++++++++++++++
 1 file changed, 131 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/Piper.java

diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
new file mode 100644
index 0000000..0b148f8
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -0,0 +1,131 @@
+// 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.subsystems;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Piper extends SubsystemBase {
+  private TalonFX shooter1, shooter2;
+  private TalonFX preshooterMotor; 
+  private TalonFX intakeMotor; 
+  private DigitalInput noteSwitch;
+  
+  public Piper() {
+    // Shooter
+    shooter1 = new TalonFX(35);
+    shooter2 = new TalonFX(34);
+    shooter1.setInverted(true);
+    shooter2.setInverted(false);
+
+    Slot0Configs s0c = new Slot0Configs().withKP(0).withKI(0).withKD(0).withKG(0).withKV(0).withKA(0);
+    CurrentLimitsConfigs clc =
+        new CurrentLimitsConfigs()
+            .withStatorCurrentLimitEnable(true)
+            .withStatorCurrentLimit(20);
+
+    shooter1.getConfigurator().apply(s0c);
+    shooter2.getConfigurator().apply(s0c);
+    shooter1.getConfigurator().apply(clc);
+    shooter2.getConfigurator().apply(clc);
+
+    // PreShooter
+    preshooterMotor = new TalonFX(32); 
+
+    preshooterMotor.getConfigurator().apply(clc);
+    
+
+    intakeMotor = new TalonFX(33);
+
+    intakeMotor.getConfigurator().apply(clc);
+
+    //note detector
+
+    noteSwitch = new DigitalInput(1);
+
+  }
+  public boolean isNotesThere() {
+    return noteSwitch.get();
+  }
+  
+  //Shooter Functions
+  public void spinShooter(int speed) {
+
+    VelocityVoltage VV = new VelocityVoltage(speed * 1);
+;
+    shooter1.setControl(VV);
+    shooter2.setControl(VV);
+  }
+
+  public void stopShooter() {
+    VelocityVoltage VV = new VelocityVoltage(0);
+    shooter1.setControl(VV);
+    shooter2.setControl(VV);
+  }
+
+  // PreShooter Functions
+  public void spinPreShooter(int speed) {
+
+    VelocityVoltage VV = new VelocityVoltage(speed * 1);
+;
+    preshooterMotor.setControl(VV);
+  }
+
+  public void stopPreShooter() {
+    preshooterMotor.stopMotor();
+  }
+
+  //Intake Functions
+  public void spinIntake(int speed) {
+    VelocityVoltage VV = new VelocityVoltage(speed);
+;
+    intakeMotor.setControl(VV);
+  }
+
+  public void stopIntake() {
+    intakeMotor.stopMotor();
+  }
+,
+  
+  /**
+   * Example command factory method.
+   *
+   * @return a command
+   */
+  public Command exampleMethodCommand() {
+    // Inline construction of command goes here.
+    // Subsystem::RunOnce implicitly requires `this` subsystem.
+    return runOnce(
+        () -> {
+          /* one-time action goes here */
+        });
+  }
+
+  /**
+   * An example method querying a boolean state of the subsystem (for example, a digital sensor).
+   *
+   * @return value of some boolean subsystem state, such as a digital sensor.
+   */
+  public boolean exampleCondition() {
+    // Query some boolean state, such as a digital sensor.
+    return false;
+  }
+
+  @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
+  }
+}

From 3569247de8ba1d5edaabddfc05b39f91ded364c1 Mon Sep 17 00:00:00 2001
From: Violet Su <violetnsu@gmail.com>
Date: Mon, 28 Oct 2024 21:05:33 -0700
Subject: [PATCH 02/13] piper mech

Co-authored-by: Venkata Siva Ramisetty <Ace-Kat@users.noreply.github.com>
---
 src/main/java/frc/robot/RobotContainer.java   | 22 ++++----
 src/main/java/frc/robot/commands/Autos.java   |  4 --
 src/main/java/frc/robot/commands/Intake.java  | 50 +++++++++++++++++++
 ...{ExampleCommand.java => PiperCommand.java} |  8 +--
 .../robot/subsystems/ExampleSubsystem.java    | 47 -----------------
 src/main/java/frc/robot/subsystems/Piper.java | 18 +++++--
 vendordeps/DogLog.json                        | 20 ++++++++
 7 files changed, 101 insertions(+), 68 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/Intake.java
 rename src/main/java/frc/robot/commands/{ExampleCommand.java => PiperCommand.java} (84%)
 delete mode 100644 src/main/java/frc/robot/subsystems/ExampleSubsystem.java
 create mode 100644 vendordeps/DogLog.json

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a33249e..ea88639 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,8 +6,8 @@
 
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.Autos;
-import frc.robot.commands.ExampleCommand;
-import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.commands.Intake;
+import frc.robot.subsystems.Piper;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -20,15 +20,18 @@
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final CommandXboxController m_driverController =
       new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
+  private final Piper piper = Piper.getInstance();
+
+
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the trigger bindings
+    m_driverController.rightTrigger().whileTrue(new Intake(piper));
     configureBindings();
   }
 
@@ -43,12 +46,12 @@ public RobotContainer() {
    */
   private void configureBindings() {
     // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-    new Trigger(m_exampleSubsystem::exampleCondition)
-        .onTrue(new ExampleCommand(m_exampleSubsystem));
+    // new Trigger(m_exampleSubsystem::exampleCondition)
+    //     .onTrue(new ExampleCommand(m_exampleSubsystem));
 
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
-    // cancelling on release.
-    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
+    // // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
+    // // cancelling on release.
+    // m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
   }
 
   /**
@@ -57,7 +60,8 @@ private void configureBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
+	return null;
     // An example command will be run in autonomous
-    return Autos.exampleAuto(m_exampleSubsystem);
+    // return Autos.exampleAuto(m_exampleSubsystem);
   }
 }
diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
index 107aad7..b32acdb 100644
--- a/src/main/java/frc/robot/commands/Autos.java
+++ b/src/main/java/frc/robot/commands/Autos.java
@@ -4,15 +4,11 @@
 
 package frc.robot.commands;
 
-import frc.robot.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 
 public final class Autos {
   /** Example static factory for an autonomous command. */
-  public static Command exampleAuto(ExampleSubsystem subsystem) {
-    return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem));
-  }
 
   private Autos() {
     throw new UnsupportedOperationException("This is a utility class!");
diff --git a/src/main/java/frc/robot/commands/Intake.java b/src/main/java/frc/robot/commands/Intake.java
new file mode 100644
index 0000000..8c25742
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Intake.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 frc.robot.subsystems.Piper;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** An example command that uses an example subsystem. */
+public class Intake extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Piper m_piper;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public Intake(Piper piper) {
+    m_piper = piper;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(piper);
+  }
+
+  // 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() {
+    double speed = 6.0;
+    m_piper.spinIntake(speed);
+    m_piper.spinPreShooter(speed);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_piper.stopIntake();
+    m_piper.stopPreShooter();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return m_piper.isNotesThere();
+  }
+}
diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/PiperCommand.java
similarity index 84%
rename from src/main/java/frc/robot/commands/ExampleCommand.java
rename to src/main/java/frc/robot/commands/PiperCommand.java
index 7481d3c..9a62e34 100644
--- a/src/main/java/frc/robot/commands/ExampleCommand.java
+++ b/src/main/java/frc/robot/commands/PiperCommand.java
@@ -4,20 +4,20 @@
 
 package frc.robot.commands;
 
-import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.Piper;
 import edu.wpi.first.wpilibj2.command.Command;
 
 /** An example command that uses an example subsystem. */
-public class ExampleCommand extends Command {
+public class PiperCommand extends Command {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final ExampleSubsystem m_subsystem;
+  private final Piper m_subsystem;
 
   /**
    * Creates a new ExampleCommand.
    *
    * @param subsystem The subsystem used by this command.
    */
-  public ExampleCommand(ExampleSubsystem subsystem) {
+  public PiperCommand(Piper subsystem) {
     m_subsystem = subsystem;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(subsystem);
diff --git a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
deleted file mode 100644
index 6b375da..0000000
--- a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
+++ /dev/null
@@ -1,47 +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 frc.robot.subsystems;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class ExampleSubsystem extends SubsystemBase {
-  /** Creates a new ExampleSubsystem. */
-  public ExampleSubsystem() {}
-
-  /**
-   * Example command factory method.
-   *
-   * @return a command
-   */
-  public Command exampleMethodCommand() {
-    // Inline construction of command goes here.
-    // Subsystem::RunOnce implicitly requires `this` subsystem.
-    return runOnce(
-        () -> {
-          /* one-time action goes here */
-        });
-  }
-
-  /**
-   * An example method querying a boolean state of the subsystem (for example, a digital sensor).
-   *
-   * @return value of some boolean subsystem state, such as a digital sensor.
-   */
-  public boolean exampleCondition() {
-    // Query some boolean state, such as a digital sensor.
-    return false;
-  }
-
-  @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/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index 0b148f8..d64fa95 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -18,6 +18,7 @@ public class Piper extends SubsystemBase {
   private TalonFX preshooterMotor; 
   private TalonFX intakeMotor; 
   private DigitalInput noteSwitch;
+  private static Piper piperInstance;
   
   public Piper() {
     // Shooter
@@ -57,7 +58,7 @@ public boolean isNotesThere() {
   }
   
   //Shooter Functions
-  public void spinShooter(int speed) {
+  public void spinShooter(double speed) {
 
     VelocityVoltage VV = new VelocityVoltage(speed * 1);
 ;
@@ -72,7 +73,7 @@ public void stopShooter() {
   }
 
   // PreShooter Functions
-  public void spinPreShooter(int speed) {
+  public void spinPreShooter(double speed) {
 
     VelocityVoltage VV = new VelocityVoltage(speed * 1);
 ;
@@ -84,7 +85,7 @@ public void stopPreShooter() {
   }
 
   //Intake Functions
-  public void spinIntake(int speed) {
+  public void spinIntake(double speed) {
     VelocityVoltage VV = new VelocityVoltage(speed);
 ;
     intakeMotor.setControl(VV);
@@ -93,7 +94,8 @@ public void spinIntake(int speed) {
   public void stopIntake() {
     intakeMotor.stopMotor();
   }
-,
+
+
   
   /**
    * Example command factory method.
@@ -122,10 +124,18 @@ public boolean exampleCondition() {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    DogLog.log();
   }
 
   @Override
   public void simulationPeriodic() {
     // This method will be called once per scheduler run during simulation
   }
+  public static Piper getInstance() {
+    if(piperInstance == null){
+      piperInstance = new Piper();
+    }
+
+    return piperInstance;
+  }
 }
diff --git a/vendordeps/DogLog.json b/vendordeps/DogLog.json
new file mode 100644
index 0000000..4e867e1
--- /dev/null
+++ b/vendordeps/DogLog.json
@@ -0,0 +1,20 @@
+{
+    "javaDependencies": [
+        {
+            "groupId": "com.github.jonahsnider",
+            "artifactId": "doglog",
+            "version": "2024.1.1"
+        }
+    ],
+    "fileName": "DogLog.json",
+    "frcYear": "2024",
+    "jsonUrl": "https://doglog.dev/vendordep.json",
+    "name": "DogLog",
+    "jniDependencies": [],
+    "mavenUrls": [
+        "https://jitpack.io"
+    ],
+    "cppDependencies": [],
+    "version": "2024.6.0",
+    "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
+}
\ No newline at end of file

From ea824b71b7cb9bc1550fffb74a7e203efc576f3d Mon Sep 17 00:00:00 2001
From: Violet Su <violetnsu@gmail.com>
Date: Mon, 28 Oct 2024 21:13:37 -0700
Subject: [PATCH 03/13] piper mech

---
 src/main/java/frc/robot/subsystems/Piper.java | 3 +++
 vendordeps/DogLog.json                        | 4 ++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index d64fa95..95a00e9 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -7,6 +7,9 @@
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.hardware.TalonFX;
+
+import dev.doglog.DogLog;
+
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.motorcontrol.Talon;
diff --git a/vendordeps/DogLog.json b/vendordeps/DogLog.json
index 4e867e1..4b21de7 100644
--- a/vendordeps/DogLog.json
+++ b/vendordeps/DogLog.json
@@ -3,7 +3,7 @@
         {
             "groupId": "com.github.jonahsnider",
             "artifactId": "doglog",
-            "version": "2024.1.1"
+            "version": "2024.6.0"
         }
     ],
     "fileName": "DogLog.json",
@@ -15,6 +15,6 @@
         "https://jitpack.io"
     ],
     "cppDependencies": [],
-    "version": "2024.6.0",
+    "version": "2024.5.8",
     "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
 }
\ No newline at end of file

From 94edf36aa13f25ec0569024a706a4d87f9d0a19c Mon Sep 17 00:00:00 2001
From: MaryamShaikh320 <maryamshaikh320@gmail.com>
Date: Mon, 4 Nov 2024 18:53:40 -0800
Subject: [PATCH 04/13] piper w/ doglogged

---
 .../robot/subsystems/RunMotorSubsystem.java   | 48 +++++++++++
 .../java/frc/robot/util/LoggedTalonFX.java    | 80 +++++++++++++++++++
 2 files changed, 128 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/RunMotorSubsystem.java
 create mode 100644 src/main/java/frc/robot/util/LoggedTalonFX.java

diff --git a/src/main/java/frc/robot/subsystems/RunMotorSubsystem.java b/src/main/java/frc/robot/subsystems/RunMotorSubsystem.java
new file mode 100644
index 0000000..0717f99
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/RunMotorSubsystem.java
@@ -0,0 +1,48 @@
+// 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.subsystems;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+public class RunMotorSubsystem extends SubsystemBase {
+
+  //The motor is declared here!
+  private TalonFX motor;
+  private static RunMotorSubsystem instance;
+
+
+  private RunMotorSubsystem() {
+    //TODO: Initalize the motor on port 0
+    motor = new TalonFX(0);
+  }
+  // This is a singleton pattern. Ensures only one instance of `RunMotorSubsystem` exists!
+  // See if you can understand how it works!
+  public static RunMotorSubsystem getInstance(){
+    if(instance == null){
+      instance = new RunMotorSubsystem();
+    }
+    return instance;
+  }
+
+  public void runMotor(double speed) {
+    //TODO: set motor speed and log speed
+    motor.set(speed);
+    SmartDashboard.putNumber("motor speed", speed);
+  }
+
+  @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/frc/robot/util/LoggedTalonFX.java b/src/main/java/frc/robot/util/LoggedTalonFX.java
new file mode 100644
index 0000000..cea8383
--- /dev/null
+++ b/src/main/java/frc/robot/util/LoggedTalonFX.java
@@ -0,0 +1,80 @@
+package frc.robot.util;
+
+import java.util.ArrayList;
+
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import dev.doglog.DogLog;
+
+public class LoggedTalonFX extends TalonFX{
+
+    private static ArrayList<LoggedTalonFX> motors = new ArrayList<>();
+    private String name;
+    private String temperature,closedLoopError,closedLoopReference,position,velocity,acceleration,supplycurrent,statorcurrent,torquecurrent,motorvoltage,supplyvoltage;
+
+    public LoggedTalonFX(String deviceName,int deviceId, String canbus) {
+        super(deviceId, canbus);
+        init();
+        name = deviceName;
+    }
+
+        public LoggedTalonFX(String deviceName,int deviceId) {
+        super(deviceId);
+        init();
+        name = deviceName;
+    }
+
+    public LoggedTalonFX(int deviceId, String canbus) {
+        super(deviceId, canbus);
+        init();
+        name = "motor "+deviceId;
+    }
+
+    public LoggedTalonFX(int deviceId) {
+        super(deviceId);
+        init();
+        name = "motor "+deviceId;
+    }
+
+    public void init(){
+        motors.add(this);
+        this.temperature=name + "/temperature(degC)";
+        this.closedLoopError = name + "/closedLoopError";
+        this.closedLoopReference = name + "/closedLoopReference";
+        this.position=name + "/position(rotations)";
+        this.velocity=name + "/velocity(rps)";
+        this.acceleration=name + "/acceleration(rps2)";
+        this.supplycurrent=name + "/current/supply(A)";
+        this.statorcurrent=name + "/current/stator(A)";
+        this.torquecurrent=name + "/current/torque(A)";
+        this.motorvoltage=name + "/voltage/motor(V)";
+        this.supplyvoltage=name + "/voltage/supply(V)";
+    }
+
+    public static void peroidic(){
+        for(LoggedTalonFX l: motors){
+            l.periodic();
+        }
+    }
+    
+    public void periodic(){
+        DogLog.log(temperature,this.getDeviceTemp().getValue());
+        DogLog.log(closedLoopError,this.getClosedLoopError().getValue());
+        DogLog.log(closedLoopReference,this.getClosedLoopReference().getValue());
+
+        DogLog.log(position,this.getPosition().getValue());
+        DogLog.log(velocity,this.getVelocity().getValue());
+        DogLog.log(acceleration,this.getAcceleration().getValue());
+
+        //Current
+        DogLog.log(supplycurrent,this.getSupplyCurrent().getValue());
+        DogLog.log(statorcurrent,this.getStatorCurrent().getValue());
+        DogLog.log(torquecurrent,this.getTorqueCurrent().getValue());
+
+        //Voltage
+        DogLog.log(motorvoltage,this.getMotorVoltage().getValue());
+        DogLog.log(supplyvoltage,this.getSupplyVoltage().getValue());
+    }
+
+}
\ No newline at end of file

From 93f1adbe55bc5ca3612974824bccf54fd44caac9 Mon Sep 17 00:00:00 2001
From: MaryamShaikh320 <maryamshaikh320@gmail.com>
Date: Mon, 4 Nov 2024 19:02:11 -0800
Subject: [PATCH 05/13] updated doglog version

---
 src/main/java/frc/robot/Robot.java | 3 +++
 vendordeps/DogLog.json             | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 687a0a0..b762b82 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import dev.doglog.DogLog;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -28,6 +29,8 @@ public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
+    // DogLog.setOptions(new DogLogOptions().withNtPublish(true).withCaptureDs(true).withLogExtras(true));
+
   }
 
   /**
diff --git a/vendordeps/DogLog.json b/vendordeps/DogLog.json
index 4b21de7..750a428 100644
--- a/vendordeps/DogLog.json
+++ b/vendordeps/DogLog.json
@@ -3,7 +3,7 @@
         {
             "groupId": "com.github.jonahsnider",
             "artifactId": "doglog",
-            "version": "2024.6.0"
+            "version": "2024.5.8"
         }
     ],
     "fileName": "DogLog.json",

From 759c383aac6f8dc25a0f5b95ef3324140b3cf0f6 Mon Sep 17 00:00:00 2001
From: Violet Su <violetnsu@gmail.com>
Date: Mon, 4 Nov 2024 19:43:27 -0800
Subject: [PATCH 06/13] doglog w piper

---
 src/main/java/frc/robot/commands/Intake.java    | 1 +
 src/main/java/frc/robot/subsystems/Piper.java   | 8 ++++++--
 src/main/java/frc/robot/util/LoggedTalonFX.java | 1 +
 3 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Intake.java b/src/main/java/frc/robot/commands/Intake.java
index 8c25742..34fe973 100644
--- a/src/main/java/frc/robot/commands/Intake.java
+++ b/src/main/java/frc/robot/commands/Intake.java
@@ -4,6 +4,7 @@
 
 package frc.robot.commands;
 import frc.robot.subsystems.Piper;
+import dev.doglog.DogLog;
 import edu.wpi.first.wpilibj2.command.Command;
 
 /** An example command that uses an example subsystem. */
diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index 95a00e9..df745f6 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -92,6 +92,7 @@ public void spinIntake(double speed) {
     VelocityVoltage VV = new VelocityVoltage(speed);
 ;
     intakeMotor.setControl(VV);
+  
   }
 
   public void stopIntake() {
@@ -126,10 +127,13 @@ public boolean exampleCondition() {
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
-    DogLog.log();
+    DogLog.log(intakeMotor,this.getSpeed()).getValue();
   }
 
+  
+  private int getSpeed(int Speed) {
+    return Speed; 
+  }
   @Override
   public void simulationPeriodic() {
     // This method will be called once per scheduler run during simulation
diff --git a/src/main/java/frc/robot/util/LoggedTalonFX.java b/src/main/java/frc/robot/util/LoggedTalonFX.java
index cea8383..bcfdc8c 100644
--- a/src/main/java/frc/robot/util/LoggedTalonFX.java
+++ b/src/main/java/frc/robot/util/LoggedTalonFX.java
@@ -6,6 +6,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import dev.doglog.DogLog;
+import dev.doglog.DogLogOptions; 
 
 public class LoggedTalonFX extends TalonFX{
 

From d75f257510672eb7270b4ce3cbe33629a920c44d Mon Sep 17 00:00:00 2001
From: Violet Su <violetnsu@gmail.com>
Date: Mon, 4 Nov 2024 21:27:40 -0800
Subject: [PATCH 07/13] pipermech 11/4

---
 src/main/java/frc/robot/RobotContainer.java      |  3 +++
 src/main/java/frc/robot/commands/Intake.java     |  3 ++-
 .../frc/robot/commands/increaseConstVal.java     | 11 +++++++++++
 src/main/java/frc/robot/subsystems/Piper.java    | 16 +++++++++-------
 src/main/java/frc/robot/util/LoggedTalonFX.java  |  4 ++--
 5 files changed, 27 insertions(+), 10 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/increaseConstVal.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ea88639..64c34f2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.Autos;
 import frc.robot.commands.Intake;
+import frc.robot.commands.increaseConstVal;
 import frc.robot.subsystems.Piper;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -33,6 +34,8 @@ public RobotContainer() {
     // Configure the trigger bindings
     m_driverController.rightTrigger().whileTrue(new Intake(piper));
     configureBindings();
+    double ffval = 0;
+    m_driverController.rightBumper().onTrue(piper.FFConst);
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/Intake.java b/src/main/java/frc/robot/commands/Intake.java
index 34fe973..2f841f9 100644
--- a/src/main/java/frc/robot/commands/Intake.java
+++ b/src/main/java/frc/robot/commands/Intake.java
@@ -31,7 +31,8 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double speed = 6.0;
+    double speed = 1;
+    m_piper.spinShooter(speed);
     m_piper.spinIntake(speed);
     m_piper.spinPreShooter(speed);
   }
diff --git a/src/main/java/frc/robot/commands/increaseConstVal.java b/src/main/java/frc/robot/commands/increaseConstVal.java
new file mode 100644
index 0000000..4c2157a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/increaseConstVal.java
@@ -0,0 +1,11 @@
+package frc.robot.commands;
+
+
+public class increaseConstVal {
+    double ffval = 0;
+    
+    public static double increaseVal (double ffval){
+        ffval += 0.5;
+        return ffval; 
+    }
+}
diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index df745f6..3cc50ff 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -22,6 +22,7 @@ public class Piper extends SubsystemBase {
   private TalonFX intakeMotor; 
   private DigitalInput noteSwitch;
   private static Piper piperInstance;
+  double FFConst;
   
   public Piper() {
     // Shooter
@@ -40,6 +41,7 @@ public Piper() {
     shooter2.getConfigurator().apply(s0c);
     shooter1.getConfigurator().apply(clc);
     shooter2.getConfigurator().apply(clc);
+    
 
     // PreShooter
     preshooterMotor = new TalonFX(32); 
@@ -64,7 +66,7 @@ public boolean isNotesThere() {
   public void spinShooter(double speed) {
 
     VelocityVoltage VV = new VelocityVoltage(speed * 1);
-;
+
     shooter1.setControl(VV);
     shooter2.setControl(VV);
   }
@@ -89,7 +91,7 @@ public void stopPreShooter() {
 
   //Intake Functions
   public void spinIntake(double speed) {
-    VelocityVoltage VV = new VelocityVoltage(speed);
+    VelocityVoltage VV = new VelocityVoltage(speed).withFeedForward(FFConst);
 ;
     intakeMotor.setControl(VV);
   
@@ -127,13 +129,13 @@ public boolean exampleCondition() {
 
   @Override
   public void periodic() {
-    DogLog.log(intakeMotor,this.getSpeed()).getValue();
+    DogLog.log("IntakeMotor Speed", intakeMotor.get());
+    FFConst += 0.5;
   }
 
-  
-  private int getSpeed(int Speed) {
-    return Speed; 
-  }
+  //private int getSpeed(int Speed) {
+   // return Speed; 
+  //}
   @Override
   public void simulationPeriodic() {
     // This method will be called once per scheduler run during simulation
diff --git a/src/main/java/frc/robot/util/LoggedTalonFX.java b/src/main/java/frc/robot/util/LoggedTalonFX.java
index bcfdc8c..92fa083 100644
--- a/src/main/java/frc/robot/util/LoggedTalonFX.java
+++ b/src/main/java/frc/robot/util/LoggedTalonFX.java
@@ -1,3 +1,4 @@
+
 package frc.robot.util;
 
 import java.util.ArrayList;
@@ -6,7 +7,6 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import dev.doglog.DogLog;
-import dev.doglog.DogLogOptions; 
 
 public class LoggedTalonFX extends TalonFX{
 
@@ -78,4 +78,4 @@ public void periodic(){
         DogLog.log(supplyvoltage,this.getSupplyVoltage().getValue());
     }
 
-}
\ No newline at end of file
+}

From 0276a6a772390fa33bb7fe4b3e5b221542d0dfa8 Mon Sep 17 00:00:00 2001
From: MaryamShaikh320 <maryamshaikh320@gmail.com>
Date: Mon, 11 Nov 2024 20:53:29 -0800
Subject: [PATCH 08/13] Got FF constant to change when button is clicked.
 Intake doesn't work. (Reverting to old code)

---
 src/main/java/frc/robot/Robot.java            | 14 ++++++++++++-
 src/main/java/frc/robot/RobotContainer.java   |  3 ---
 src/main/java/frc/robot/commands/Intake.java  |  2 +-
 .../frc/robot/commands/increaseConstVal.java  | 11 ----------
 src/main/java/frc/robot/subsystems/Piper.java | 20 ++++++++++++++++++-
 5 files changed, 33 insertions(+), 17 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/increaseConstVal.java

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index b762b82..cda4276 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,6 +8,11 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.Constants.OperatorConstants;
+import frc.robot.subsystems.Piper;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -19,6 +24,10 @@ public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
   private RobotContainer m_robotContainer;
+  private Piper m_piper = Piper.getInstance();
+  
+  private final CommandXboxController m_driverController =
+      new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -84,7 +93,10 @@ public void teleopInit() {
 
   /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+    m_driverController.rightBumper().onTrue(new InstantCommand(() -> m_piper.increaseFF()));
+    m_driverController.leftBumper().onTrue(new InstantCommand(() -> m_piper.decreaseFF()));
+  }
 
   @Override
   public void testInit() {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 64c34f2..ea88639 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,7 +7,6 @@
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.Autos;
 import frc.robot.commands.Intake;
-import frc.robot.commands.increaseConstVal;
 import frc.robot.subsystems.Piper;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -34,8 +33,6 @@ public RobotContainer() {
     // Configure the trigger bindings
     m_driverController.rightTrigger().whileTrue(new Intake(piper));
     configureBindings();
-    double ffval = 0;
-    m_driverController.rightBumper().onTrue(piper.FFConst);
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/Intake.java b/src/main/java/frc/robot/commands/Intake.java
index 2f841f9..b9386ca 100644
--- a/src/main/java/frc/robot/commands/Intake.java
+++ b/src/main/java/frc/robot/commands/Intake.java
@@ -32,7 +32,7 @@ public void initialize() {
   @Override
   public void execute() {
     double speed = 1;
-    m_piper.spinShooter(speed);
+    //m_piper.spinShooter(speed);
     m_piper.spinIntake(speed);
     m_piper.spinPreShooter(speed);
   }
diff --git a/src/main/java/frc/robot/commands/increaseConstVal.java b/src/main/java/frc/robot/commands/increaseConstVal.java
deleted file mode 100644
index 4c2157a..0000000
--- a/src/main/java/frc/robot/commands/increaseConstVal.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package frc.robot.commands;
-
-
-public class increaseConstVal {
-    double ffval = 0;
-    
-    public static double increaseVal (double ffval){
-        ffval += 0.5;
-        return ffval; 
-    }
-}
diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index 3cc50ff..2b75779 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -13,6 +13,7 @@
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.motorcontrol.Talon;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -61,11 +62,18 @@ public Piper() {
   public boolean isNotesThere() {
     return noteSwitch.get();
   }
+
+  public static Piper piperInstance() {
+    if (piperInstance == null) {
+      piperInstance = new Piper();
+    }
+    return piperInstance;
+  }
   
   //Shooter Functions
   public void spinShooter(double speed) {
 
-    VelocityVoltage VV = new VelocityVoltage(speed * 1);
+    VelocityVoltage VV = new VelocityVoltage(speed);
 
     shooter1.setControl(VV);
     shooter2.setControl(VV);
@@ -130,9 +138,19 @@ public boolean exampleCondition() {
   @Override
   public void periodic() {
     DogLog.log("IntakeMotor Speed", intakeMotor.get());
+    SmartDashboard.putNumber("IntakeMotor Speed", intakeMotor.get());
+    DogLog.log("FF Constant Value", FFConst);
+    SmartDashboard.putNumber("FF Constant Value", FFConst);
+  }
+
+  public void increaseFF() {
     FFConst += 0.5;
   }
 
+  public void decreaseFF() {
+    FFConst -= 0.25;
+  }
+
   //private int getSpeed(int Speed) {
    // return Speed; 
   //}

From bfaed6fb607ce826e24e95643690f909d3f5f9f2 Mon Sep 17 00:00:00 2001
From: Venkata Siva Ramisetty <92191466+Ace-Kat@users.noreply.github.com>
Date: Mon, 18 Nov 2024 19:00:39 -0800
Subject: [PATCH 09/13] added dog log for note sensor

---
 src/main/java/frc/robot/subsystems/Piper.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index 2b75779..357650c 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -139,6 +139,8 @@ public boolean exampleCondition() {
   public void periodic() {
     DogLog.log("IntakeMotor Speed", intakeMotor.get());
     SmartDashboard.putNumber("IntakeMotor Speed", intakeMotor.get());
+    DogLog.log("IsNotePresent", isNotesThere());
+    SmartDashboard.putNumber("IntakeMotor Speed", isNotesThere());
     DogLog.log("FF Constant Value", FFConst);
     SmartDashboard.putNumber("FF Constant Value", FFConst);
   }

From b72602b866c22b2769b2d9afaad6c04c3da7d2a8 Mon Sep 17 00:00:00 2001
From: Ace-Kat <92191466+Ace-Kat@users.noreply.github.com>
Date: Mon, 18 Nov 2024 20:05:27 -0800
Subject: [PATCH 10/13] Changed intake speed and added logging for the note
 sensor

---
 src/main/java/frc/robot/commands/Intake.java  |  2 +-
 src/main/java/frc/robot/subsystems/Piper.java | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Intake.java b/src/main/java/frc/robot/commands/Intake.java
index b9386ca..c612e6f 100644
--- a/src/main/java/frc/robot/commands/Intake.java
+++ b/src/main/java/frc/robot/commands/Intake.java
@@ -31,7 +31,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double speed = 1;
+    double speed = 90;
     //m_piper.spinShooter(speed);
     m_piper.spinIntake(speed);
     m_piper.spinPreShooter(speed);
diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index 357650c..c0bf8b3 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -32,7 +32,7 @@ public Piper() {
     shooter1.setInverted(true);
     shooter2.setInverted(false);
 
-    Slot0Configs s0c = new Slot0Configs().withKP(0).withKI(0).withKD(0).withKG(0).withKV(0).withKA(0);
+    Slot0Configs s0c = new Slot0Configs().withKP(0.1).withKI(0).withKD(0).withKG(0).withKV(0).withKA(0);
     CurrentLimitsConfigs clc =
         new CurrentLimitsConfigs()
             .withStatorCurrentLimitEnable(true)
@@ -60,7 +60,7 @@ public Piper() {
 
   }
   public boolean isNotesThere() {
-    return noteSwitch.get();
+    return !(noteSwitch.get());
   }
 
   public static Piper piperInstance() {
@@ -139,18 +139,18 @@ public boolean exampleCondition() {
   public void periodic() {
     DogLog.log("IntakeMotor Speed", intakeMotor.get());
     SmartDashboard.putNumber("IntakeMotor Speed", intakeMotor.get());
-    DogLog.log("IsNotePresent", isNotesThere());
-    SmartDashboard.putNumber("IntakeMotor Speed", isNotesThere());
+    DogLog.log("IsNotePresent", !(noteSwitch.get()) ? 1:0);
+    SmartDashboard.putNumber("isnotepresent", !(noteSwitch.get()) ? 1:0);
     DogLog.log("FF Constant Value", FFConst);
     SmartDashboard.putNumber("FF Constant Value", FFConst);
   }
 
   public void increaseFF() {
-    FFConst += 0.5;
+    FFConst += 0.00001;
   }
 
   public void decreaseFF() {
-    FFConst -= 0.25;
+    FFConst -= 0.00001;
   }
 
   //private int getSpeed(int Speed) {

From c8aee86e704a21dfaebb9c83f83999b6ce3c2e98 Mon Sep 17 00:00:00 2001
From: Ace-Kat <92191466+Ace-Kat@users.noreply.github.com>
Date: Mon, 18 Nov 2024 20:24:40 -0800
Subject: [PATCH 11/13] Co-authored-by: Maryam
 <MaryamShaikh320@users.noreply.github.com> Co-authored-by: vio1atte
 <vio1atte@users.noreply.github.com>

---
 2025-training                                 |  1 +
 src/main/java/frc/robot/commands/Shooter.java | 50 +++++++++++++++++++
 2 files changed, 51 insertions(+)
 create mode 160000 2025-training
 create mode 100644 src/main/java/frc/robot/commands/Shooter.java

diff --git a/2025-training b/2025-training
new file mode 160000
index 0000000..bc380f5
--- /dev/null
+++ b/2025-training
@@ -0,0 +1 @@
+Subproject commit bc380f511945ab0b6dbb442b2c6e5e035519b7a1
diff --git a/src/main/java/frc/robot/commands/Shooter.java b/src/main/java/frc/robot/commands/Shooter.java
new file mode 100644
index 0000000..1f92199
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Shooter.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 frc.robot.subsystems.Piper;
+import dev.doglog.DogLog;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** An example command that uses an example subsystem. */
+public class Shooter extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Piper m_piper;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public Shooter(Piper piper) {
+    m_piper = piper;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(piper);
+  }
+
+  // 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() {
+    double speed = 50;
+    m_piper.spinShooter(speed);
+    m_piper.spinPreShooter(speed/2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_piper.stopShooter();
+    m_piper.stopPreShooter();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+  }
+}

From 19054d26555477818a14e79e67fdd587743d77a4 Mon Sep 17 00:00:00 2001
From: Ace-Kat <92191466+Ace-Kat@users.noreply.github.com>
Date: Mon, 18 Nov 2024 20:27:26 -0800
Subject: [PATCH 12/13] Added logging for shooter speed

Co-authored-by: Maryam <MaryamShaikh320@users.noreply.github.com>
Co-authored-by: vio1atte <vio1atte@users.noreply.github.com>for
---
 src/main/java/frc/robot/subsystems/Piper.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index c0bf8b3..1a9cc37 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -139,6 +139,8 @@ public boolean exampleCondition() {
   public void periodic() {
     DogLog.log("IntakeMotor Speed", intakeMotor.get());
     SmartDashboard.putNumber("IntakeMotor Speed", intakeMotor.get());
+    DogLog.log("ShooterMotor Speed", Shooter1.get());
+    SmartDashboard.putNumber("ShooterMotor Speed", Shooter1.get());
     DogLog.log("IsNotePresent", !(noteSwitch.get()) ? 1:0);
     SmartDashboard.putNumber("isnotepresent", !(noteSwitch.get()) ? 1:0);
     DogLog.log("FF Constant Value", FFConst);

From 07964c9bdd5da55ccb0096c1b0ff5a40e24081ec Mon Sep 17 00:00:00 2001
From: Ace-Kat <92191466+Ace-Kat@users.noreply.github.com>
Date: Mon, 18 Nov 2024 20:58:02 -0800
Subject: [PATCH 13/13] added shooter code

---
 src/main/java/frc/robot/RobotContainer.java   | 2 ++
 src/main/java/frc/robot/commands/Shooter.java | 1 +
 src/main/java/frc/robot/subsystems/Piper.java | 4 ++--
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ea88639..975491d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.Autos;
 import frc.robot.commands.Intake;
+import frc.robot.commands.Shooter;
 import frc.robot.subsystems.Piper;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -32,6 +33,7 @@ public class RobotContainer {
   public RobotContainer() {
     // Configure the trigger bindings
     m_driverController.rightTrigger().whileTrue(new Intake(piper));
+    m_driverController.leftTrigger().whileTrue(new Shooter(piper));
     configureBindings();
   }
 
diff --git a/src/main/java/frc/robot/commands/Shooter.java b/src/main/java/frc/robot/commands/Shooter.java
index 1f92199..668a8d6 100644
--- a/src/main/java/frc/robot/commands/Shooter.java
+++ b/src/main/java/frc/robot/commands/Shooter.java
@@ -46,5 +46,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
+    return !(m_piper.isNotesThere());
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Piper.java b/src/main/java/frc/robot/subsystems/Piper.java
index 1a9cc37..00be46e 100644
--- a/src/main/java/frc/robot/subsystems/Piper.java
+++ b/src/main/java/frc/robot/subsystems/Piper.java
@@ -139,8 +139,8 @@ public boolean exampleCondition() {
   public void periodic() {
     DogLog.log("IntakeMotor Speed", intakeMotor.get());
     SmartDashboard.putNumber("IntakeMotor Speed", intakeMotor.get());
-    DogLog.log("ShooterMotor Speed", Shooter1.get());
-    SmartDashboard.putNumber("ShooterMotor Speed", Shooter1.get());
+    DogLog.log("ShooterMotor Speed", shooter1.get());
+    SmartDashboard.putNumber("ShooterMotor Speed", shooter1.get());
     DogLog.log("IsNotePresent", !(noteSwitch.get()) ? 1:0);
     SmartDashboard.putNumber("isnotepresent", !(noteSwitch.get()) ? 1:0);
     DogLog.log("FF Constant Value", FFConst);