From 3411b79f2609ff33de8aafa6c39302b6d6b1e652 Mon Sep 17 00:00:00 2001
From: Krypton-4-FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 10 Jan 2025 20:06:41 -0800
Subject: [PATCH 1/7] created hopper subsystem and intake hopper

---
 src/main/java/frc/robot/RobotContainer.java   |  5 +++
 .../java/frc/robot/commands/IntakeHopper.java | 43 +++++++++++++++++++
 .../java/frc/robot/subsystems/hopper.java     | 29 +++++++++++++
 3 files changed, 77 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/IntakeHopper.java
 create mode 100644 src/main/java/frc/robot/subsystems/hopper.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 17a43e5c..744e6ee1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -14,13 +14,17 @@
 import frc.robot.RobotMap.mapControllers;
 import frc.robot.commands.DriveManual;
 import frc.robot.commands.ExampleAuto;
+import frc.robot.commands.IntakeHopper;
 import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.hopper;
 
 public class RobotContainer {
 
   private final SN_XboxController conDriver = new SN_XboxController(mapControllers.DRIVER_USB);
 
   private final Drivetrain subDrivetrain = new Drivetrain();
+  private final hopper subHopper = new hopper();
+  private final IntakeHopper com_IntakeHopper = new IntakeHopper(subHopper);
 
   public RobotContainer() {
     conDriver.setLeftDeadband(constControllers.DRIVER_LEFT_STICK_DEADBAND);
@@ -43,6 +47,7 @@ private void configureBindings() {
     conDriver.btn_LeftBumper
         .whileTrue(Commands.runOnce(() -> subDrivetrain.setRobotRelative()))
         .onFalse(Commands.runOnce(() -> subDrivetrain.setFieldRelative()));
+    conDriver.btn_Back.whileTrue(com_IntakeHopper);
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/IntakeHopper.java b/src/main/java/frc/robot/commands/IntakeHopper.java
new file mode 100644
index 00000000..0daa3cff
--- /dev/null
+++ b/src/main/java/frc/robot/commands/IntakeHopper.java
@@ -0,0 +1,43 @@
+// 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 edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.hopper;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class IntakeHopper extends Command {
+
+  hopper subHopper;
+
+  /** Creates a new Intake_Hopper. */
+  public IntakeHopper(hopper subHopper) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.subHopper = subHopper;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+    subHopper.runHopper(0.5);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/hopper.java b/src/main/java/frc/robot/subsystems/hopper.java
new file mode 100644
index 00000000..4269863a
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/hopper.java
@@ -0,0 +1,29 @@
+// 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.wpilibj2.command.SubsystemBase;
+
+public class hopper extends SubsystemBase {
+
+  TalonFX hopperMotor;
+
+  /** Creates a new hopper. */
+  public hopper() {
+    hopperMotor = new TalonFX(0);
+
+  }
+
+  public void runHopper(double speed) {
+    hopperMotor.set(speed);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 12d75122510a5d35bf99e85903b51b050b67581c Mon Sep 17 00:00:00 2001
From: Krypton-4-FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 10 Jan 2025 20:14:26 -0800
Subject: [PATCH 2/7] byebyebeyebveyebveyebeyebyebeyebbeyvbyeb

---
 .../java/frc/robot/subsystems/hopper.java     | 29 -------------------
 1 file changed, 29 deletions(-)
 delete mode 100644 src/main/java/frc/robot/subsystems/hopper.java

diff --git a/src/main/java/frc/robot/subsystems/hopper.java b/src/main/java/frc/robot/subsystems/hopper.java
deleted file mode 100644
index 4269863a..00000000
--- a/src/main/java/frc/robot/subsystems/hopper.java
+++ /dev/null
@@ -1,29 +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 com.ctre.phoenix6.hardware.TalonFX;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-public class hopper extends SubsystemBase {
-
-  TalonFX hopperMotor;
-
-  /** Creates a new hopper. */
-  public hopper() {
-    hopperMotor = new TalonFX(0);
-
-  }
-
-  public void runHopper(double speed) {
-    hopperMotor.set(speed);
-  }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}

From b9c0fddac65efcf08424cf68c84fe370a55f15b7 Mon Sep 17 00:00:00 2001
From: Krypton-4-FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 10 Jan 2025 20:20:40 -0800
Subject: [PATCH 3/7] =?UTF-8?q?fixed=20=20my=20spelling=20error=20please?=
 =?UTF-8?q?=20dont=20crucify=20me=F0=9F=A6=9F=E2=84=A2=EF=B8=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/frc/robot/RobotContainer.java   |  4 +--
 .../java/frc/robot/commands/IntakeHopper.java |  2 +-
 .../java/frc/robot/subsystems/Hopper.java     | 29 +++++++++++++++++++
 3 files changed, 32 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/frc/robot/subsystems/Hopper.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 744e6ee1..761a09d7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -16,14 +16,14 @@
 import frc.robot.commands.ExampleAuto;
 import frc.robot.commands.IntakeHopper;
 import frc.robot.subsystems.Drivetrain;
-import frc.robot.subsystems.hopper;
+import frc.robot.subsystems.Hopper;
 
 public class RobotContainer {
 
   private final SN_XboxController conDriver = new SN_XboxController(mapControllers.DRIVER_USB);
 
   private final Drivetrain subDrivetrain = new Drivetrain();
-  private final hopper subHopper = new hopper();
+  private final Hopper subHopper = new Hopper();
   private final IntakeHopper com_IntakeHopper = new IntakeHopper(subHopper);
 
   public RobotContainer() {
diff --git a/src/main/java/frc/robot/commands/IntakeHopper.java b/src/main/java/frc/robot/commands/IntakeHopper.java
index 0daa3cff..4913988e 100644
--- a/src/main/java/frc/robot/commands/IntakeHopper.java
+++ b/src/main/java/frc/robot/commands/IntakeHopper.java
@@ -5,7 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.hopper;
+import frc.robot.subsystems.Hopper;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class IntakeHopper extends Command {
diff --git a/src/main/java/frc/robot/subsystems/Hopper.java b/src/main/java/frc/robot/subsystems/Hopper.java
new file mode 100644
index 00000000..f2835ecf
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Hopper.java
@@ -0,0 +1,29 @@
+// 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.wpilibj2.command.SubsystemBase;
+
+public class Hopper extends SubsystemBase {
+
+  TalonFX hopperMotor;
+
+  /** Creates a new hopper. */
+  public Hopper() {
+    hopperMotor = new TalonFX(0);
+
+  }
+
+  public void runHopper(double speed) {
+    hopperMotor.set(speed);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From 05dbe1e31900fe2249ad63d1fe0bda543b06220c Mon Sep 17 00:00:00 2001
From: Krypton-4-FRCTeam3255-Shared
 <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Date: Fri, 10 Jan 2025 20:28:24 -0800
Subject: [PATCH 4/7] =?UTF-8?q?made=20it=20a=20constant=F0=9F=A6=9F?=
 =?UTF-8?q?=E2=84=A2=EF=B8=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/frc/robot/Constants.java             | 3 +++
 src/main/java/frc/robot/commands/IntakeHopper.java | 7 ++++---
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1316541f..4f1ff7e6 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -236,4 +236,7 @@ public static class constVision {
     public static final double STD_DEVS_HEADING = 9999999;
 
   }
+    public static class constHopper{
+      public static final double HOPPER_SPEED = 0.5;
+    }
 }
diff --git a/src/main/java/frc/robot/commands/IntakeHopper.java b/src/main/java/frc/robot/commands/IntakeHopper.java
index 4913988e..c1eaab9a 100644
--- a/src/main/java/frc/robot/commands/IntakeHopper.java
+++ b/src/main/java/frc/robot/commands/IntakeHopper.java
@@ -5,15 +5,16 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.constHopper;
 import frc.robot.subsystems.Hopper;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class IntakeHopper extends Command {
 
-  hopper subHopper;
+  Hopper subHopper;
 
   /** Creates a new Intake_Hopper. */
-  public IntakeHopper(hopper subHopper) {
+  public IntakeHopper(Hopper subHopper) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.subHopper = subHopper;
   }
@@ -22,7 +23,7 @@ public IntakeHopper(hopper subHopper) {
   @Override
   public void initialize() {
 
-    subHopper.runHopper(0.5);
+    subHopper.runHopper(constHopper.HOPPER_SPEED);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

From 70f775ca03d1a5c2abd9834ab90c887e3db6a5f2 Mon Sep 17 00:00:00 2001
From: BrodyKarr <145169276+BrodyKarr@users.noreply.github.com>
Date: Fri, 10 Jan 2025 20:57:14 -0800
Subject: [PATCH 5/7] =?UTF-8?q?made=20it=20stop=F0=9F=A6=9F=E2=84=A2?=
 =?UTF-8?q?=EF=B8=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/frc/robot/commands/IntakeHopper.java | 1 +
 src/main/java/frc/robot/subsystems/Hopper.java     | 3 +++
 2 files changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/commands/IntakeHopper.java b/src/main/java/frc/robot/commands/IntakeHopper.java
index c1eaab9a..14867f1a 100644
--- a/src/main/java/frc/robot/commands/IntakeHopper.java
+++ b/src/main/java/frc/robot/commands/IntakeHopper.java
@@ -34,6 +34,7 @@ public void execute() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+    subHopper.setHopperNeutralOutput(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/subsystems/Hopper.java b/src/main/java/frc/robot/subsystems/Hopper.java
index f2835ecf..24c3e567 100644
--- a/src/main/java/frc/robot/subsystems/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/Hopper.java
@@ -21,6 +21,9 @@ public Hopper() {
   public void runHopper(double speed) {
     hopperMotor.set(speed);
   }
+  public void setHopperNeutralOutput(double speed){
+    hopperMotor.set(speed);
+  }
 
   @Override
   public void periodic() {

From 985c6a4c131d8f9e3820b87b9ff9767f40ac0fe1 Mon Sep 17 00:00:00 2001
From: BrodyKarr <145169276+BrodyKarr@users.noreply.github.com>
Date: Sat, 11 Jan 2025 09:53:08 -0800
Subject: [PATCH 6/7] =?UTF-8?q?fixed=20things=20based=20on=20comments?=
 =?UTF-8?q?=F0=9F=A6=9F=E2=84=A2=EF=B8=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/frc/robot/Constants.java             | 10 +++++++---
 src/main/java/frc/robot/RobotContainer.java        |  5 ++---
 src/main/java/frc/robot/commands/IntakeHopper.java |  2 +-
 src/main/java/frc/robot/subsystems/Hopper.java     |  6 +++---
 4 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index cceac996..13a18760 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -241,7 +241,11 @@ public static class constVision {
     public static final double STD_DEVS_HEADING = 9999999;
 
   }
-    public static class constHopper{
-      public static final double HOPPER_SPEED = 0.5;
-    }
+
+  public static class constHopper {
+    public static final double HOPPER_SPEED = 0.5;
+
+    public static final TalonFXConfiguration HOPPER_CONFIG = new TalonFXConfiguration();
+
+  }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 03d19c50..0adb4667 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,8 +15,8 @@
 import frc.robot.RobotMap.mapControllers;
 import frc.robot.commands.DriveManual;
 import frc.robot.commands.ExampleAuto;
-import frc.robot.commands.*
-import frc.robot.subsystems.*
+import frc.robot.commands.*;
+import frc.robot.subsystems.*;
 
 public class RobotContainer {
 
@@ -30,7 +30,6 @@ public class RobotContainer {
 
   private final AlgaeIntake subAlgaeIntake = new AlgaeIntake();
 
-
   public RobotContainer() {
     conDriver.setLeftDeadband(constControllers.DRIVER_LEFT_STICK_DEADBAND);
 
diff --git a/src/main/java/frc/robot/commands/IntakeHopper.java b/src/main/java/frc/robot/commands/IntakeHopper.java
index 14867f1a..d53a23d8 100644
--- a/src/main/java/frc/robot/commands/IntakeHopper.java
+++ b/src/main/java/frc/robot/commands/IntakeHopper.java
@@ -34,7 +34,7 @@ public void execute() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    subHopper.setHopperNeutralOutput(0);
+    subHopper.runHopper(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/subsystems/Hopper.java b/src/main/java/frc/robot/subsystems/Hopper.java
index 24c3e567..b6f922b6 100644
--- a/src/main/java/frc/robot/subsystems/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/Hopper.java
@@ -7,6 +7,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.constHopper;
 
 public class Hopper extends SubsystemBase {
 
@@ -16,14 +17,13 @@ public class Hopper extends SubsystemBase {
   public Hopper() {
     hopperMotor = new TalonFX(0);
 
+    hopperMotor.getConfigurator().apply(constHopper.HOPPER_CONFIG);
+
   }
 
   public void runHopper(double speed) {
     hopperMotor.set(speed);
   }
-  public void setHopperNeutralOutput(double speed){
-    hopperMotor.set(speed);
-  }
 
   @Override
   public void periodic() {

From 0404d46a6b8a72d62676b0128313c434a0ec0673 Mon Sep 17 00:00:00 2001
From: BrodyKarr <145169276+BrodyKarr@users.noreply.github.com>
Date: Sat, 11 Jan 2025 10:04:39 -0800
Subject: [PATCH 7/7] =?UTF-8?q?imported=20the=20motor=20ID=20to=20prevent?=
 =?UTF-8?q?=20conflicts=F0=9F=A6=9F=E2=84=A2=EF=B8=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/frc/robot/RobotMap.java          | 5 +++++
 src/main/java/frc/robot/subsystems/Hopper.java | 3 ++-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotMap.java b/src/main/java/frc/robot/RobotMap.java
index 108f20cc..7ec7f08a 100644
--- a/src/main/java/frc/robot/RobotMap.java
+++ b/src/main/java/frc/robot/RobotMap.java
@@ -36,4 +36,9 @@ public static class mapDrivetrain {
   public static class mapAlgaeIntake {
     public static final int ALGAE_MOTOR_CAN = 10;
   }
+
+  // Hopper is 40-49
+  public static class mapHopper {
+    public static final int HOPPER_MOTOR_CAN = 40;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/Hopper.java b/src/main/java/frc/robot/subsystems/Hopper.java
index b6f922b6..382bac78 100644
--- a/src/main/java/frc/robot/subsystems/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/Hopper.java
@@ -8,6 +8,7 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.constHopper;
+import frc.robot.RobotMap.mapHopper;
 
 public class Hopper extends SubsystemBase {
 
@@ -15,7 +16,7 @@ public class Hopper extends SubsystemBase {
 
   /** Creates a new hopper. */
   public Hopper() {
-    hopperMotor = new TalonFX(0);
+    hopperMotor = new TalonFX(mapHopper.HOPPER_MOTOR_CAN);
 
     hopperMotor.getConfigurator().apply(constHopper.HOPPER_CONFIG);