spelling mistake and reverseintakeflywheel

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

@@ -37,6 +37,7 @@
 import frc.robot.commands.Positions.SpeakerShot;
 import frc.robot.commands.Positions.StowPosition;
 import frc.robot.commands.PreRunShooter;
+import frc.robot.commands.ReverseIntakeFlywheel;
 import frc.robot.commands.ShootNote;
 import frc.robot.commands.ShootNoteTeleop;
 import frc.robot.subsystems.arm.Arm;
@@ -73,8 +74,6 @@ public class RobotContainer {
   // Subsystems
   private final Drive sDrive;
   private final Flywheel sFlywheel;
-  private final Flywheel sEject;
-  private final Intake sOutake;
   private final Intake sIntake;
   private final Arm sArm;
 
@@ -338,7 +337,8 @@ private void configureButtonBindings() {
         new PreRunShooter(sFlywheel, true, sIntake)); // Runs the flywheel slowly at all times
 
     operatorController.rightBumper().whileTrue(new ShootNoteTeleop(sIntake, sFlywheel, sArm));
-    operatorController.leftBumper().whileTrue(new ShootNoteTeleop(sOutake, sEject, sArm));
+    // operatorController.leftBumper().whileTrue(new PreRunShooter(sFlywheel, sIntake));
+    operatorController.leftBumper().whileTrue(new ReverseIntakeFlywheel(sIntake, sFlywheel));
 
     // Climber controls (The first one is 90% probably the one that works.)
     // sClimber.setDefaultCommand(

src/main/java/frc/robot/commands/ControlCommands/IntakeShooterControls.java

@@ -31,7 +31,7 @@ public static Command intakeShooterDefaultCommand(
             intake.runPercentSpeed(
                 Constants.IntakeConstants.percentPower * rightTriggerSupplier.getAsDouble());
           }
-          boolean noteDetected = intake.getConveyerProximity() || intake.getShooterProximity();
+          boolean noteDetected = intake.getConveyorProximity() || intake.getShooterProximity();
           SmartDashboard.putBoolean("Note Detected", noteDetected);
         },
         intake);

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

@@ -35,7 +35,7 @@ public void initialize() {}
   @Override
   public void execute() {
 
-    if (intake.getConveyerProximity()) {
+    if (intake.getConveyorProximity()) {
       intake.runPercentSpeed(0);
     } else {
       intake.runPercentSpeed(-Constants.IntakeConstants.percentPower);
@@ -51,6 +51,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return intake.getConveyerProximity();
+    return intake.getConveyorProximity();
   }
 }

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

@@ -35,7 +35,7 @@ public void initialize() {}
   @Override
   public void execute() {
 
-    if (intake.getConveyerProximity()) {
+    if (intake.getConveyorProximity()) {
       intake.runPercentSpeed(0);
     } else {
       intake.runPercentSpeed(-Constants.IntakeConstants.percentPower);
@@ -51,6 +51,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return intake.getConveyerProximity();
+    return intake.getConveyorProximity();
   }
 }

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

@@ -46,7 +46,7 @@ public void execute() {
       flywheel.runVelocity(-10000);
 
     } else if (slowerDefault) {
-      if (intake.getConveyerProximity()) {
+      if (intake.getConveyorProximity()) {
         flywheel.runVelocity(Constants.FlywheelConstants.slowShootingVelocity);
       } else {
         flywheel.runVelocity(300);

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

@@ -0,0 +1,47 @@
+// Copyright 2016-2024 FRC 5829
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
+import frc.robot.subsystems.flywheel.Flywheel;
+import frc.robot.subsystems.intake.Intake;
+
+public class ReverseIntakeFlywheel extends Command {
+
+  private Intake intake;
+  private Flywheel flywheel;
+
+  public ReverseIntakeFlywheel(Intake intake, Flywheel flywheel) {
+    this.intake = intake;
+    this.flywheel = flywheel;
+    addRequirements(intake, flywheel);
+  }
+
+  @Override
+  public void initialize() {}
+
+  @Override
+  public void execute() {
+    double targetRPM = -Constants.FlywheelConstants.slowShootingVelocity;
+
+    flywheel.runVelocity(targetRPM);
+    intake.runPercentSpeed(1);
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    flywheel.runVelocity(0);
+    intake.runPercentSpeed(0);
+  }
+}

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

@@ -53,7 +53,7 @@ public void execute() {
       intake.runPercentSpeed(-1);
     }
 
-    if (!intake.getConveyerProximity() && !intake.getShooterProximity()) {
+    if (!intake.getConveyorProximity() && !intake.getShooterProximity()) {
       if (sensorsZeroTime == null) {
         sensorsZeroTime = System.currentTimeMillis();
       }

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

@@ -67,7 +67,7 @@ public void setDisco() {
 
   @Override
   public void periodic() {
-    boolean noteDetected = intake.getConveyerProximity() || intake.getShooterProximity();
+    boolean noteDetected = intake.getConveyorProximity() || intake.getShooterProximity();
     SmartDashboard.putBoolean("Note Detected", noteDetected);
     if (noteDetected) {
       setColor(new int[] {0, 255, 0});

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -75,7 +75,7 @@ public void runPercentSpeed(double percentSpeed) {
     Logger.recordOutput("Intake/PercentSpeed", percentSpeed);
   }
 
-  public boolean getConveyerProximity() {
+  public boolean getConveyorProximity() {
     return proximitySensorInputs.isConveyorSensorTriggered;
   }