Got index working, purged charge for now

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

@@ -86,7 +86,7 @@ public class RobotContainer {
 
   private final IntakeCommandGroup intakeGroup = new IntakeCommandGroup(index, intake);
   private final IntakeRevCommandGroup intakeRevGroup = new IntakeRevCommandGroup(index, intake);
-  ChargeIntakeCommand chargeIntake = new ChargeIntakeCommand(drivetrain, intake, driveRequest);
+  // ChargeIntakeCommand chargeIntake = new ChargeIntakeCommand(drivetrain, intake, driveRequest);
 
   /* Autonomous Chooser */
   SendableChooser<Command> autoChooser;
@@ -131,7 +131,7 @@ public static boolean isAllianceRed() {
 
   /* Method to configure the button bindings */
   private void configureBindings() {
-
+    index.setDefaultCommand(index.run(() -> index.SetPower(0)));
             driveRequest = drive.withVelocityX(-m_driverController.getLeftY() * MaxSpeed)
             .withVelocityY(-m_driverController.getLeftX() * MaxSpeed) // Drive left with negative X (left)
             .withRotationalRate(-m_driverController.getRightX() * MaxAngularRate) // Drive counterclockwise with
@@ -195,9 +195,10 @@ public void DebugMethodSingle() {
 
     // #endregion Testing
   }
+
 
   public Command getAutonomousCommand() {
     return autoChooser.getSelected();
-  }
+  }  
 
 } // End of class

src/main/java/frc/robot/commands/IncrementIndex.java

@@ -0,0 +1,27 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.IndexSubsystem;
+
+public class IncrementIndex extends Command {
+
+    IndexSubsystem indexer;
+
+    public IncrementIndex(IndexSubsystem indexer) {
+        this.indexer = indexer;
+
+        addRequirements(indexer);
+    }
+
+    @Override
+    public void execute() {
+        indexer.SetPower(-0.1);
+    }
+
+    @Override
+    public boolean isFinished() {
+        // Check if there is no note loaded. i.e. HasCargo() returns false
+        return !indexer.HasCargo();
+    }
+
+}

src/main/java/frc/robot/commands/RevAndShootCommand.java

@@ -23,14 +23,14 @@ public class RevAndShootCommand extends SequentialCommandGroup {
     IndexSubsystem indexer;
     ShooterSubsystemVelocity shooter;
     // component Commands
-    // private IncrementIndex outtaMyWay;
+    private IncrementIndex outtaMyWay;
     private Command revUpShooter;
     private Command indexCommand;
 
     public RevAndShootCommand(IndexSubsystem indexer) {
         // Set up our subsystems
         this.indexer = indexer;
-        // outtaMyWay = new IncrementIndex(indexer);
+        outtaMyWay = new IncrementIndex(indexer);
     }