Complete indexer command task

tasks/lesson2-indexer-task/README.md

@@ -41,7 +41,7 @@ This should return a command that:
 
 - Bind `indexForSeconds(1.5)` to button 1 on the joystick
 
-## 4. Run and test in simulation
+## 4. Run and test in simu8lation
 
 - Start your robot in simulation
 - Switch to teleoperated mode

tasks/lesson2-indexer-task/simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -20,10 +25,10 @@
       "axisCount": 3,
       "buttonCount": 4,
       "buttonKeys": [
-        90,
-        88,
-        67,
-        86
+        49,
+        50,
+        51,
+        52
       ],
       "povConfig": [
         {

tasks/lesson2-indexer-task/src/main/java/frc/robot/RobotContainer.java

@@ -5,6 +5,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import frc.robot.subsystems.Indexer;
 
@@ -15,13 +16,19 @@ public class RobotContainer {
   // Controller
   private final CommandJoystick joystick = new CommandJoystick(0);
 
+
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     configureBindings();
   }
 
   private void configureBindings() {
     // TODO: Bind indexForSeconds(1.5) to joystick button 1
+    joystick.button(1).onTrue(indexer.indexForSeconds(1.5));
+
+
+    //joystick.button(1).onTrue(indexer.indexForSeconds(1.5));
+
   }
 
   public Command getAutonomousCommand() {

tasks/lesson2-indexer-task/src/main/java/frc/robot/subsystems/Indexer.java

@@ -4,22 +4,26 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.Command;
 
 public class Indexer extends SubsystemBase {
   // TODO: Add indexing state variable here
-
+  boolean indexing = false;
   /** Creates a new Indexer subsystem. */
   public Indexer() {}
 
   /** Starts the indexing process. */
   public void startIndexing() {
     // TODO: Set indexing state to true
+    indexing = true;
   }
 
   /** Stops the indexing process. */
   public void stopIndexing() {
     // TODO: Set indexing state to false
+    indexing = false;
   }
 
   /**
@@ -29,11 +33,22 @@ public void stopIndexing() {
    */
   public boolean isIndexing() {
     // TODO: Return indexing state
-    return false;
+    return indexing;
   }
 
   // TODO: Implement indexForSeconds() command factory
-
+
+  public Command indexForSeconds(double seconds) {
+
+    return Commands.runOnce(this::startIndexing, this)
+
+        .andThen(Commands.waitSeconds(1.5))
+        .andThen(Commands.runOnce(this::stopIndexing, this));
+
+
+
+  }
+
   @Override
   public void periodic() {
     // This method will always be called once per scheduler run