test code addded (debugging)

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

@@ -18,13 +18,15 @@
 import frc.robot.commands.manualCommands.RunRevUP;
 import frc.robot.commands.manualCommands.RunTrack;
 import frc.robot.commands.manualCommands.RunWrist;
+import frc.robot.commands.manualCommands.testtest;
 import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.LEDs;
 import frc.robot.subsystems.Pivot;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Trolley;
 import frc.robot.subsystems.Wrist;
+import frc.robot.subsystems.test;
 
 
 /**
@@ -43,18 +45,20 @@ public class RobotContainer {
   private final LEDs m_Leds = new LEDs();
   private final Indexer m_Indexer = new Indexer();
   private final Joystick joy = new Joystick(0);
-
-
-  private final JoystickButton INTAKE_MANUAL_BUTTON = new JoystickButton(joy, PS5Controller.Button.kR2.value);
-  private final JoystickButton INTAKE_SENSORS_BUTTON  = new JoystickButton(joy, PS5Controller.Button.kR1.value); 
-  private final JoystickButton FIRE_BUTTON = new JoystickButton(joy, PS5Controller.Button.kCircle.value);
-  private final JoystickButton IDLE_FIRE_BUTTON = new JoystickButton(joy, PS5Controller.Button.kTouchpad.value);
-  private final JoystickButton TRACK_UP = new JoystickButton(joy, PS5Controller.Button.kR3.value);
-  private final JoystickButton TRACK_DOWN = new JoystickButton(joy, PS5Controller.Button.kL3.value);
-  private final JoystickButton WRIST_UP = new JoystickButton(joy, PS5Controller.Button.kCross.value);
-  private final JoystickButton WRIST_DOWN = new JoystickButton(joy, PS5Controller.Button.kSquare.value);
-  private final JoystickButton PIVOT_UP = new JoystickButton(joy, PS5Controller.Button.kL1.value);
-  private final JoystickButton PIVOT_DOWN = new JoystickButton(joy, PS5Controller.Button.kL2.value);
+  private final test m_Test = new test();
+
+
+  // private final JoystickButton INTAKE_MANUAL_BUTTON = new JoystickButton(joy, PS5Controller.Button.kR2.value);
+  // private final JoystickButton INTAKE_SENSORS_BUTTON  = new JoystickButton(joy, PS5Controller.Button.kR1.value); 
+  // private final JoystickButton FIRE_BUTTON = new JoystickButton(joy, PS5Controller.Button.kCircle.value);
+  // private final JoystickButton IDLE_FIRE_BUTTON = new JoystickButton(joy, PS5Controller.Button.kTouchpad.value);
+  // private final JoystickButton TRACK_UP = new JoystickButton(joy, PS5Controller.Button.kR3.value);
+  // private final JoystickButton TRACK_DOWN = new JoystickButton(joy, PS5Controller.Button.kL3.value);
+  // private final JoystickButton WRIST_UP = new JoystickButton(joy, PS5Controller.Button.kCross.value);
+  // private final JoystickButton WRIST_DOWN = new JoystickButton(joy, PS5Controller.Button.kSquare.value);
+  // private final JoystickButton PIVOT_UP = new JoystickButton(joy, PS5Controller.Button.kL1.value);
+  // private final JoystickButton PIVOT_DOWN = new JoystickButton(joy, PS5Controller.Button.kL2.value);
+  private final JoystickButton TEST_BUT = new JoystickButton(joy, PS5Controller.Button.kCircle.value);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -110,6 +114,11 @@ private void configureButtonBindings() {
     // PIVOT_UP.whileTrue(new RunCommand(() -> m_Pivot.pivot(0.4)));
 
     // PIVOT_DOWN.whileTrue(new RunCommand(() -> m_Pivot.pivot(-0.4)));
+
+
+    //TEST_BUT.whileTrue(new testtest(m_Test));
+    TEST_BUT.whileTrue(new RunCommand(() -> m_Test.testIN()));
+    TEST_BUT.whileFalse(new RunCommand(() -> m_Test.testSTOP()));
   }
   /** 
    * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/commands/manualCommands/testtest.java

@@ -0,0 +1,40 @@
+// 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.manualCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.test;
+
+public class testtest extends Command {
+  /** Creates a new testtest. */
+  private final test m_test;
+
+  public testtest(test m_Test) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.m_test = m_Test;
+  }
+
+  // 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() {
+    m_test.testIN();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_test.testSTOP();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/test.java

@@ -13,11 +13,18 @@
 
 /** Add your docs here. */
     public class test extends SubsystemBase{
-    private CANSparkFlex intakeMotor;
+    private CANSparkFlex testMotor;
     public test(){
-        intakeMotor = new CANSparkFlex(Constants.IntakeConstants.INTAKE_MOTOR_ID, MotorType.kBrushless);
-        intakeMotor.setIdleMode(IdleMode.kCoast);
-
-
+        testMotor = new CANSparkFlex(Constants.IntakeConstants.INTAKE_MOTOR_ID, MotorType.kBrushless);
+        testMotor.setIdleMode(IdleMode.kCoast);
+    }
+    public void testIN(){
+        testMotor.set(0.2);
+    }
+    public void testOUT(){
+        testMotor.set(-0.2);
+    }
+    public void testSTOP(){
+        testMotor.set(0);
     }
 }