From 4e7213f407e2670ba525c1d70c3bc7e63e8b86c0 Mon Sep 17 00:00:00 2001
From: HaiwuliangXshiro <gouyixuan37@gmail.com>
Date: Thu, 7 Nov 2024 18:17:14 -0600
Subject: [PATCH 01/14] hi

---
 src/main/java/frc/robot/RobotContainer.java   | 13 ++++-
 .../frc/robot/commands/intakecommands.java    | 25 +++++++++
 .../frc/robot/subsystems/NGNL_intake.java     | 54 +++++++++++--------
 3 files changed, 70 insertions(+), 22 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/intakecommands.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d9bd7f5..03a97ab 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -5,6 +5,7 @@
 package frc.robot;
 
 import edu.wpi.first.math.MathUtil;
+import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -18,13 +19,17 @@
 import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
+import frc.robot.commands.intakecommands;
 import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.NGNL_intake;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import java.util.List;
 
+import com.pathplanner.lib.auto.NamedCommands;
+
 /*
  * This class is where the bulk of the robot should be declared.  Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
@@ -32,6 +37,7 @@
  * (including subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
+    private final NGNL_intake intake = new NGNL_intake(4);
   // The robot's subsystems
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
 
@@ -57,7 +63,10 @@ public RobotContainer() {
                 true, true),
             m_robotDrive));
   }
-
+  private void nameCommands(){
+    NamedCommands.registerCommand("IntakeCommand", new intakecommands(intake));
+    //NamedCommands.registerCommand("OuttakeCommand", new OuttakeCommand(intake));
+  }
   /**
    * Use this method to define your button->command mappings. Buttons can be
    * created by
@@ -72,6 +81,8 @@ private void configureButtonBindings() {
         .whileTrue(new RunCommand(
             () -> m_robotDrive.setX(),
             m_robotDrive));
+            
+    m_driverController.getLeftBumper().whileTrue(new IntakeCommand());
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/intakecommands.java b/src/main/java/frc/robot/commands/intakecommands.java
new file mode 100644
index 0000000..8dd6ae2
--- /dev/null
+++ b/src/main/java/frc/robot/commands/intakecommands.java
@@ -0,0 +1,25 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.NGNL_intake;
+
+public class intakecommands extends Command {
+  private final NGNL_intake intake;
+
+  public intakecommands(NGNL_intake intake) {
+    this.intake = intake;
+
+    addRequirements(intake);
+  }
+
+  @Override
+  public void execute() {
+    intake.intake();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    intake.stopIntake();
+  }
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/NGNL_intake.java b/src/main/java/frc/robot/subsystems/NGNL_intake.java
index bbe237f..865416e 100644
--- a/src/main/java/frc/robot/subsystems/NGNL_intake.java
+++ b/src/main/java/frc/robot/subsystems/NGNL_intake.java
@@ -1,25 +1,37 @@
 package frc.robot.subsystems;
 
+import com.revrobotics.CANSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.IntakeConstants;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkLowLevel.MotorType;
-
-public class NGNL_intake extends SubsystemBase {
-
-    private final CANSparkMax intakeMotor = 
-        new CANSparkMax(IntakeConstants.IntakeMotor, MotorType.kBrushless);
-    
-    public void runPercentSpeed(double percentSpeed){
-        percentSpeed = -percentSpeed;
-    }    
-    public NGNL_intake(){
-        intakeMotor.restoreFactoryDefaults();
-        intakeMotor.setCANTimeout(250);
-        intakeMotor.setInverted(false);
-        intakeMotor.setSmartCurrentLimit(40);
-        intakeMotor.burnFlash();
-    }
-
-    
-}
+
+public class NGNL_intake extends SubsystemBase{
+  private final CANSparkMax intakeMotor;
+
+  public NGNL_intake(int intakeMotorID) {
+    intakeMotor = new CANSparkMax(IntakeConstants.IntakeMotor, CANSparkMax.MotorType.kBrushless);
+
+  }
+
+  // Spins intake motor to intake notes
+  public void intake() {
+    intakeMotor.set(.75);
+  }
+
+  public void outtake() {
+    intakeMotor.set(-0.75);
+  }
+
+  public void stopIntake() {
+    intakeMotor.set(0);
+  }
+
+  @Override
+  public void periodic() {
+
+  }
+
+  public void stop() {
+    intakeMotor.stopMotor();
+  }
+
+}
\ No newline at end of file

From c17ff8195d6895d74e191eeb17dfbc346626c1c7 Mon Sep 17 00:00:00 2001
From: HaiwuliangXshiro <gouyixuan37@gmail.com>
Date: Thu, 14 Nov 2024 16:32:28 -0600
Subject: [PATCH 02/14] NGNL_intake code upload

---
 src/main/java/frc/robot/RobotContainer.java | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 03a97ab..8a7d623 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -43,7 +43,9 @@ public class RobotContainer {
 
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  private final XboxController xboxController = new XboxController(1);
 
+  private final intakecommands intakeCommand = new intakecommands(intake);
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
@@ -77,12 +79,7 @@ private void nameCommands(){
    * {@link JoystickButton}.
    */
   private void configureButtonBindings() {
-    new JoystickButton(m_driverController, Button.kR1.value)
-        .whileTrue(new RunCommand(
-            () -> m_robotDrive.setX(),
-            m_robotDrive));
-            
-    m_driverController.getLeftBumper().whileTrue(new IntakeCommand());
+    new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(intakeCommand);
   }
 
   /**

From 6faf4698203fa883ea4fbc9319cef7980b65b25c Mon Sep 17 00:00:00 2001
From: Yonube <blazer2008.mail@gmail.com>
Date: Thu, 14 Nov 2024 16:53:15 -0600
Subject: [PATCH 03/14] Created Outtake

---
 src/main/java/frc/robot/RobotContainer.java   | 10 +++++++-
 .../java/frc/robot/commands/AmpCommand.java   | 25 +++++++++++++++++++
 .../java/frc/robot/commands/AmpOuttake.java   | 25 +++++++++++++++++++
 src/main/java/frc/robot/subsystems/Amp.java   |  0
 4 files changed, 59 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc/robot/commands/AmpCommand.java
 create mode 100644 src/main/java/frc/robot/commands/AmpOuttake.java
 create mode 100644 src/main/java/frc/robot/subsystems/Amp.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8a7d623..075285c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,7 +19,10 @@
 import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
+import frc.robot.commands.AmpCommand;
+import frc.robot.commands.AmpOuttake;
 import frc.robot.commands.intakecommands;
+import frc.robot.subsystems.Amp;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.NGNL_intake;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -39,6 +42,7 @@
 public class RobotContainer {
     private final NGNL_intake intake = new NGNL_intake(4);
   // The robot's subsystems
+  private final Amp amp = new Amp(3);
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
 
   // The driver's controller
@@ -46,6 +50,8 @@ public class RobotContainer {
   private final XboxController xboxController = new XboxController(1);
 
   private final intakecommands intakeCommand = new intakecommands(intake);
+  private final AmpCommand ampCommand = new AmpCommand(amp);
+  private final AmpOuttake ampOuttake = new AmpOuttake(amp);
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
@@ -79,7 +85,9 @@ private void nameCommands(){
    * {@link JoystickButton}.
    */
   private void configureButtonBindings() {
-    new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(intakeCommand);
+    new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(intakeCommand);
+    new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(ampCommand);
+    new JoystickButton(xboxController, XboxController.Button.kRightBumper.value).whileTrue(ampOuttake);
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/AmpCommand.java b/src/main/java/frc/robot/commands/AmpCommand.java
new file mode 100644
index 0000000..ef49442
--- /dev/null
+++ b/src/main/java/frc/robot/commands/AmpCommand.java
@@ -0,0 +1,25 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Amp;
+
+public class AmpCommand extends Command {
+  private final Amp amp;
+
+  public AmpCommand(Amp amp) {
+    this.amp = amp;
+
+    addRequirements(amp);
+  }
+
+  @Override
+  public void execute() {
+    amp.intake();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    amp.stopIntake();
+  }
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/AmpOuttake.java b/src/main/java/frc/robot/commands/AmpOuttake.java
new file mode 100644
index 0000000..1ce1733
--- /dev/null
+++ b/src/main/java/frc/robot/commands/AmpOuttake.java
@@ -0,0 +1,25 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Amp;
+
+public class AmpOuttake extends Command {
+  private final Amp amp;
+
+  public AmpOuttake(Amp amp) {
+    this.amp = amp;
+
+    addRequirements(amp);
+  }
+
+  @Override
+  public void execute() {
+    amp.outtake();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    amp.stopIntake();
+  }
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Amp.java b/src/main/java/frc/robot/subsystems/Amp.java
new file mode 100644
index 0000000..e69de29

From 71e284ce438a5ff27b4bcaf2b510028bd7f32497 Mon Sep 17 00:00:00 2001
From: HaiwuliangXshiro <gouyixuan37@gmail.com>
Date: Thu, 14 Nov 2024 16:54:25 -0600
Subject: [PATCH 04/14] outtake code upload

---
 src/main/java/frc/robot/RobotContainer.java   |  1 +
 .../frc/robot/commands/outtakecommands.java   | 25 +++++++++++++++++++
 2 files changed, 26 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/outtakecommands.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8a7d623..89dcdc1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -46,6 +46,7 @@ public class RobotContainer {
   private final XboxController xboxController = new XboxController(1);
 
   private final intakecommands intakeCommand = new intakecommands(intake);
+
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
diff --git a/src/main/java/frc/robot/commands/outtakecommands.java b/src/main/java/frc/robot/commands/outtakecommands.java
new file mode 100644
index 0000000..563ab5c
--- /dev/null
+++ b/src/main/java/frc/robot/commands/outtakecommands.java
@@ -0,0 +1,25 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.NGNL_intake;
+
+public class outtakecommands extends Command {
+  private final NGNL_intake outtake;
+
+  public outtakecommands(NGNL_intake outtake) {
+    this.outtake = outtake;
+
+    addRequirements(outtake);
+  }
+
+  @Override
+  public void execute() {
+    outtake.outtake();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    outtake.stopIntake();
+  }
+
+}
\ No newline at end of file

From 075cf0deefca8720e4b0f5f14374180f92cbcc66 Mon Sep 17 00:00:00 2001
From: HaiwuliangXshiro <gouyixuan37@gmail.com>
Date: Thu, 14 Nov 2024 16:57:01 -0600
Subject: [PATCH 05/14] outtake code upload

---
 src/main/java/frc/robot/RobotContainer.java | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 89dcdc1..e4c2a09 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,7 +19,10 @@
 import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
+import frc.robot.commands.AmpCommand;
+import frc.robot.commands.AmpOuttake;
 import frc.robot.commands.intakecommands;
+import frc.robot.subsystems.Amp;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.NGNL_intake;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -39,6 +42,7 @@
 public class RobotContainer {
     private final NGNL_intake intake = new NGNL_intake(4);
   // The robot's subsystems
+  private final Amp amp = new Amp(3);
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
 
   // The driver's controller
@@ -46,7 +50,12 @@ public class RobotContainer {
   private final XboxController xboxController = new XboxController(1);
 
   private final intakecommands intakeCommand = new intakecommands(intake);
+<<<<<<< HEAD
 
+=======
+  private final AmpCommand ampCommand = new AmpCommand(amp);
+  private final AmpOuttake ampOuttake = new AmpOuttake(amp);
+>>>>>>> 6faf4698203fa883ea4fbc9319cef7980b65b25c
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
@@ -81,6 +90,9 @@ private void nameCommands(){
    */
   private void configureButtonBindings() {
     new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(intakeCommand);
+    new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(intakeCommand);
+    new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(ampCommand);
+    new JoystickButton(xboxController, XboxController.Button.kRightBumper.value).whileTrue(ampOuttake);
   }
 
   /**

From 63b23b85e50ee2bce0a8968597449127c1aea202 Mon Sep 17 00:00:00 2001
From: Yonube <blazer2008.mail@gmail.com>
Date: Thu, 14 Nov 2024 17:05:18 -0600
Subject: [PATCH 06/14] Fix Steven's changes

---
 gradlew                                     |  0
 src/main/java/frc/robot/RobotContainer.java |  9 +++--
 src/main/java/frc/robot/subsystems/Amp.java | 37 +++++++++++++++++++++
 3 files changed, 43 insertions(+), 3 deletions(-)
 mode change 100644 => 100755 gradlew

diff --git a/gradlew b/gradlew
old mode 100644
new mode 100755
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e4c2a09..3043164 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,6 +22,7 @@
 import frc.robot.commands.AmpCommand;
 import frc.robot.commands.AmpOuttake;
 import frc.robot.commands.intakecommands;
+import frc.robot.commands.outtakecommands;
 import frc.robot.subsystems.Amp;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.NGNL_intake;
@@ -41,6 +42,7 @@
  */
 public class RobotContainer {
     private final NGNL_intake intake = new NGNL_intake(4);
+    
   // The robot's subsystems
   private final Amp amp = new Amp(3);
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
@@ -50,12 +52,12 @@ public class RobotContainer {
   private final XboxController xboxController = new XboxController(1);
 
   private final intakecommands intakeCommand = new intakecommands(intake);
-<<<<<<< HEAD
+  private final outtakecommands outtakecommands = new outtakecommands(intake);
 
-=======
   private final AmpCommand ampCommand = new AmpCommand(amp);
   private final AmpOuttake ampOuttake = new AmpOuttake(amp);
->>>>>>> 6faf4698203fa883ea4fbc9319cef7980b65b25c
+  
+
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
@@ -93,6 +95,7 @@ private void configureButtonBindings() {
     new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(intakeCommand);
     new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(ampCommand);
     new JoystickButton(xboxController, XboxController.Button.kRightBumper.value).whileTrue(ampOuttake);
+    new JoystickButton(xboxController, XboxController.Button.kRightBumper.value).whileTrue(outtakecommands); 
   }
 
   /**
diff --git a/src/main/java/frc/robot/subsystems/Amp.java b/src/main/java/frc/robot/subsystems/Amp.java
index e69de29..6fca72c 100644
--- a/src/main/java/frc/robot/subsystems/Amp.java
+++ b/src/main/java/frc/robot/subsystems/Amp.java
@@ -0,0 +1,37 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.AmpConstants;
+
+public class Amp extends SubsystemBase{
+  private final CANSparkMax ampMotor;
+
+  public Amp(int AmpMotorID) {
+    ampMotor = new CANSparkMax(AmpConstants.AmpMotor, CANSparkMax.MotorType.kBrushless);
+
+  }
+
+  // Spins intake motor to intake notes
+  public void intake() {
+    ampMotor.set(.75);
+  }
+
+  public void outtake() {
+    ampMotor.set(-0.75);
+  }
+
+  public void stopIntake() {
+    ampMotor.set(0);
+  }
+
+  @Override
+  public void periodic() {
+
+  }
+
+  public void stop() {
+    ampMotor.stopMotor();
+  }
+
+}
\ No newline at end of file

From 3d7f60904df458a74f01af1c2249ad7ea7cf36af Mon Sep 17 00:00:00 2001
From: SahanaH72 <sahanahebbar72@gmail.com>
Date: Thu, 14 Nov 2024 17:21:26 -0600
Subject: [PATCH 07/14] created elevator subsystem

---
 src/main/java/frc/robot/commands/ElevatorDown.java | 0
 src/main/java/frc/robot/commands/ElevatorUp.java   | 0
 src/main/java/frc/robot/subsystems/Elevator.java   | 0
 3 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/ElevatorDown.java
 create mode 100644 src/main/java/frc/robot/commands/ElevatorUp.java
 create mode 100644 src/main/java/frc/robot/subsystems/Elevator.java

diff --git a/src/main/java/frc/robot/commands/ElevatorDown.java b/src/main/java/frc/robot/commands/ElevatorDown.java
new file mode 100644
index 0000000..e69de29
diff --git a/src/main/java/frc/robot/commands/ElevatorUp.java b/src/main/java/frc/robot/commands/ElevatorUp.java
new file mode 100644
index 0000000..e69de29
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
new file mode 100644
index 0000000..e69de29

From adb24d73e9dbd4b0b72998007020663fc6625aae Mon Sep 17 00:00:00 2001
From: SahanaH72 <sahanahebbar72@gmail.com>
Date: Thu, 21 Nov 2024 16:07:48 -0600
Subject: [PATCH 08/14] elevator code

---
 src/main/java/frc/robot/Constants.java        |  3 ++
 src/main/java/frc/robot/RobotContainer.java   | 13 ++++++-
 .../java/frc/robot/TrainingBot.code-workspace | 10 +++++
 .../java/frc/robot/commands/ElevatorDown.java | 25 +++++++++++++
 .../java/frc/robot/commands/ElevatorUp.java   | 25 +++++++++++++
 .../java/frc/robot/subsystems/Elevator.java   | 37 +++++++++++++++++++
 6 files changed, 111 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc/robot/TrainingBot.code-workspace

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 70cd557..69d5de4 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -72,6 +72,9 @@ public static final class IntakeConstants{
   public static final class AmpConstants{
     public static final int AmpMotor = 3;
   }
+  public static final class ElevatorConstants{
+    public static final int ElevatorMotor = 11;
+  }
 
   public static final class ModuleConstants {
     // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3043164..46867ee 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,12 +19,16 @@
 import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
-import frc.robot.commands.AmpCommand;
+import frc.robot.commands.*;
+/*import frc.robot.commands.AmpCommand;
 import frc.robot.commands.AmpOuttake;
 import frc.robot.commands.intakecommands;
 import frc.robot.commands.outtakecommands;
+import frc.robot.commands.ElevatorDown;
+import frc.robot.commands.ElevatorUp;*/
 import frc.robot.subsystems.Amp;
 import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.Elevator;
 import frc.robot.subsystems.NGNL_intake;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -46,6 +50,7 @@ public class RobotContainer {
   // The robot's subsystems
   private final Amp amp = new Amp(3);
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
+  private final Elevator elevator = new Elevator(11);
 
   // The driver's controller
   XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
@@ -56,6 +61,9 @@ public class RobotContainer {
 
   private final AmpCommand ampCommand = new AmpCommand(amp);
   private final AmpOuttake ampOuttake = new AmpOuttake(amp);
+
+  private final ElevatorDown down = new ElevatorDown(elevator);
+  private final ElevatorUp up = new ElevatorUp(elevator);
   
 
   /**
@@ -91,11 +99,12 @@ private void nameCommands(){
    * {@link JoystickButton}.
    */
   private void configureButtonBindings() {
-    new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(intakeCommand);
     new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(intakeCommand);
     new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value).whileTrue(ampCommand);
     new JoystickButton(xboxController, XboxController.Button.kRightBumper.value).whileTrue(ampOuttake);
     new JoystickButton(xboxController, XboxController.Button.kRightBumper.value).whileTrue(outtakecommands); 
+    new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(down);
+    new JoystickButton(xboxController, XboxController.Button.kY.value).whileTrue(up);
   }
 
   /**
diff --git a/src/main/java/frc/robot/TrainingBot.code-workspace b/src/main/java/frc/robot/TrainingBot.code-workspace
new file mode 100644
index 0000000..b425ded
--- /dev/null
+++ b/src/main/java/frc/robot/TrainingBot.code-workspace
@@ -0,0 +1,10 @@
+{
+	"folders": [
+		{
+			"path": "../../../../.."
+		},
+		{
+			"path": "../../../../.."
+		}
+	]
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/ElevatorDown.java b/src/main/java/frc/robot/commands/ElevatorDown.java
index e69de29..a525e1d 100644
--- a/src/main/java/frc/robot/commands/ElevatorDown.java
+++ b/src/main/java/frc/robot/commands/ElevatorDown.java
@@ -0,0 +1,25 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevator;
+
+public class ElevatorDown extends Command {
+  private final Elevator elevator;
+
+  public ElevatorDown(Elevator elevator) {
+    this.elevator = elevator;
+
+    addRequirements(elevator);
+  }
+
+  @Override
+  public void execute() {
+    elevator.down();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    elevator.hold();
+  }
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/ElevatorUp.java b/src/main/java/frc/robot/commands/ElevatorUp.java
index e69de29..30cecb3 100644
--- a/src/main/java/frc/robot/commands/ElevatorUp.java
+++ b/src/main/java/frc/robot/commands/ElevatorUp.java
@@ -0,0 +1,25 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevator;
+
+public class ElevatorUp extends Command {
+  private final Elevator elevator;
+
+  public ElevatorUp(Elevator elevator) {
+    this.elevator = elevator;
+
+    addRequirements(elevator);
+  }
+
+  @Override
+  public void execute() {
+    elevator.up();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    elevator.hold();
+  }
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index e69de29..a7ba6e4 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -0,0 +1,37 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.ElevatorConstants;
+
+public class Elevator extends SubsystemBase{
+  private final CANSparkMax ElevatorMotor;
+
+  public Elevator(int ElevatorMotorID) {
+    ElevatorMotor = new CANSparkMax(ElevatorConstants.ElevatorMotor, CANSparkMax.MotorType.kBrushless);
+
+  }
+
+  // Spins intake motor to intake notes
+  public void up() {
+    ElevatorMotor.set(.50);
+  }
+
+  public void down() {
+    ElevatorMotor.set(-0.50);
+  }
+
+  public void hold() {
+    ElevatorMotor.set(0);
+  }
+
+  @Override
+  public void periodic() {
+
+  }
+
+  public void stop() {
+    ElevatorMotor.stopMotor();
+  }
+
+}
\ No newline at end of file

From 96957c158d75b2b8782fe9fc81f5f36a8c98fd2f Mon Sep 17 00:00:00 2001
From: HaiwuliangXshiro <gouyixuan37@gmail.com>
Date: Thu, 21 Nov 2024 16:34:08 -0600
Subject: [PATCH 09/14] double controller

---
 src/main/java/frc/robot/subsystems/Elevator.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index a7ba6e4..4964de5 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -14,11 +14,11 @@ public Elevator(int ElevatorMotorID) {
 
   // Spins intake motor to intake notes
   public void up() {
-    ElevatorMotor.set(.50);
+    ElevatorMotor.set(1);
   }
 
   public void down() {
-    ElevatorMotor.set(-0.50);
+    ElevatorMotor.set(-1);
   }
 
   public void hold() {

From 101c94d14c6ad9f385e602e0d838a47af07bcc32 Mon Sep 17 00:00:00 2001
From: Yonube <blazer2008.mail@gmail.com>
Date: Tue, 10 Dec 2024 16:42:05 -0600
Subject: [PATCH 10/14] New can ids for drive train

---
 src/main/java/frc/robot/Constants.java | 21 +++++++++------------
 1 file changed, 9 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 69d5de4..9117097 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -51,16 +51,16 @@ public static final class DriveConstants {
     public static final double kBackLeftChassisAngularOffset = Math.PI;
     public static final double kBackRightChassisAngularOffset = Math.PI / 2;
 
-    // SPARK MAX CAN IDs
-    public static final int kFrontLeftDrivingCanId = 8;
-    public static final int kRearLeftDrivingCanId = 2;
-    public static final int kFrontRightDrivingCanId = 9;
-    public static final int kRearRightDrivingCanId = 6;
+   // SPARK MAX CAN IDs
+   public static final int kFrontLeftDrivingCanId = 1;
+   public static final int kRearLeftDrivingCanId = 3;
+   public static final int kFrontRightDrivingCanId = 5;
+   public static final int kRearRightDrivingCanId = 7;
 
-    public static final int kFrontLeftTurningCanId = 7;
-    public static final int kRearLeftTurningCanId = 1;
-    public static final int kFrontRightTurningCanId = 10;
-    public static final int kRearRightTurningCanId = 5;
+   public static final int kFrontLeftTurningCanId = 2;
+   public static final int kRearLeftTurningCanId = 4;
+   public static final int kFrontRightTurningCanId = 6;
+   public static final int kRearRightTurningCanId = 8;
 
     public static final boolean kGyroReversed = false;
   }
@@ -72,9 +72,6 @@ public static final class IntakeConstants{
   public static final class AmpConstants{
     public static final int AmpMotor = 3;
   }
-  public static final class ElevatorConstants{
-    public static final int ElevatorMotor = 11;
-  }
 
   public static final class ModuleConstants {
     // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.

From 2e14cf905930218217dbc9e4b0f135f4a7175569 Mon Sep 17 00:00:00 2001
From: xeldridge18 <xeldridge13@gmail.com>
Date: Tue, 10 Dec 2024 17:09:37 -0600
Subject: [PATCH 11/14] updated elevator can IDs

---
 src/main/java/frc/robot/Constants.java | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 9117097..84d1633 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -66,11 +66,15 @@ public static final class DriveConstants {
   }
 
   public static final class IntakeConstants{
-    public static final int IntakeMotor = 4;
+    public static final int IntakeMotor = 14;
   }
 
   public static final class AmpConstants{
-    public static final int AmpMotor = 3;
+    public static final int AmpMotor = 13;
+  }
+
+  public static final class ElevatorConstants{
+    public static final int ElevatorMotor = 12;
   }
 
   public static final class ModuleConstants {

From 177938640409ebc0a42f02dd13977a7258137f4f Mon Sep 17 00:00:00 2001
From: xeldridge18 <xeldridge13@gmail.com>
Date: Wed, 11 Dec 2024 09:23:47 -0600
Subject: [PATCH 12/14] attempt to fix field centric on robot

---
 src/main/java/frc/robot/subsystems/DriveSubsystem.java | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 09b175d..a6ba93b 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -8,11 +8,14 @@
 import com.kauailabs.navx.frc.AHRS;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.SPI;
+import edu.wpi.first.wpilibj.smartdashboard.*;
 import edu.wpi.first.util.WPIUtilJNI;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.utils.SwerveUtils;
@@ -20,6 +23,7 @@
 
 public class DriveSubsystem extends SubsystemBase {
   AHRS ahrs;
+  private final Field2d m_field = new Field2d();
   // Create MAXSwerveModules
   private final MAXSwerveModule m_frontLeft = new MAXSwerveModule(
       DriveConstants.kFrontLeftDrivingCanId,
@@ -79,6 +83,8 @@ public void periodic() {
             m_rearLeft.getPosition(),
             m_rearRight.getPosition()
         });
+
+        m_field.setRobotPose(m_odometry.getPoseMeters());
   }
 
   /**

From 91688a8ca5ef90ecc71d5476ed123dbee352b4ec Mon Sep 17 00:00:00 2001
From: xeldridge18 <xeldridge13@gmail.com>
Date: Thu, 12 Dec 2024 17:46:10 -0600
Subject: [PATCH 13/14] added reset gyro button and fixed driving issue

---
 src/main/java/frc/robot/Constants.java        |  2 +-
 src/main/java/frc/robot/RobotContainer.java   |  6 ++++-
 .../java/frc/robot/commands/zeroGyro.java     | 25 +++++++++++++++++++
 .../frc/robot/subsystems/DriveSubsystem.java  | 20 ++++++++-------
 4 files changed, 42 insertions(+), 11 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/zeroGyro.java

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 84d1633..e1a3ee9 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -62,7 +62,7 @@ public static final class DriveConstants {
    public static final int kFrontRightTurningCanId = 6;
    public static final int kRearRightTurningCanId = 8;
 
-    public static final boolean kGyroReversed = false;
+    public static final boolean kGyroReversed = true;
   }
 
   public static final class IntakeConstants{
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 46867ee..7878ea3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -16,6 +16,7 @@
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.PS4Controller.Button;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
 import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.OIConstants;
@@ -53,7 +54,7 @@ public class RobotContainer {
   private final Elevator elevator = new Elevator(11);
 
   // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  private final XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
   private final XboxController xboxController = new XboxController(1);
 
   private final intakecommands intakeCommand = new intakecommands(intake);
@@ -64,6 +65,8 @@ public class RobotContainer {
 
   private final ElevatorDown down = new ElevatorDown(elevator);
   private final ElevatorUp up = new ElevatorUp(elevator);
+
+  private final zeroGyro reset = new zeroGyro(m_robotDrive);
   
 
   /**
@@ -105,6 +108,7 @@ private void configureButtonBindings() {
     new JoystickButton(xboxController, XboxController.Button.kRightBumper.value).whileTrue(outtakecommands); 
     new JoystickButton(xboxController, XboxController.Button.kA.value).whileTrue(down);
     new JoystickButton(xboxController, XboxController.Button.kY.value).whileTrue(up);
+    new JoystickButton(m_driverController, XboxController.Button.kY.value).whileTrue(reset);
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/zeroGyro.java b/src/main/java/frc/robot/commands/zeroGyro.java
new file mode 100644
index 0000000..c1e7ff9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/zeroGyro.java
@@ -0,0 +1,25 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.DriveSubsystem;
+
+public class zeroGyro extends Command {
+  private final DriveSubsystem gyro;
+
+  public zeroGyro(DriveSubsystem gyro) {
+    this.gyro = gyro;
+
+    addRequirements(gyro);
+  }
+
+  @Override
+  public void execute() {
+    gyro.zeroHeading();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    gyro.getHeading();
+  }
+
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index a6ba93b..98d8332 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -60,7 +60,7 @@ public class DriveSubsystem extends SubsystemBase {
   // Odometry class for tracking robot pose
   SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
       DriveConstants.kDriveKinematics,
-      Rotation2d.fromDegrees(m_gyro.getAngle()),
+      Rotation2d.fromDegrees(-m_gyro.getAngle()),
       new SwerveModulePosition[] {
           m_frontLeft.getPosition(),
           m_frontRight.getPosition(),
@@ -70,13 +70,14 @@ public class DriveSubsystem extends SubsystemBase {
 
   /** Creates a new DriveSubsystem. */
   public DriveSubsystem() {
+    
   }
 
   @Override
   public void periodic() {
     // Update the odometry in the periodic block
     m_odometry.update(
-        Rotation2d.fromDegrees(m_gyro.getAngle()),
+        Rotation2d.fromDegrees(-m_gyro.getAngle()),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -85,6 +86,7 @@ public void periodic() {
         });
 
         m_field.setRobotPose(m_odometry.getPoseMeters());
+        SmartDashboard.putNumber("Gyro Value", -m_gyro.getAngle());
   }
 
   /**
@@ -103,7 +105,7 @@ public Pose2d getPose() {
    */
   public void resetOdometry(Pose2d pose) {
     m_odometry.resetPosition(
-        Rotation2d.fromDegrees(m_gyro.getAngle()),
+        Rotation2d.fromDegrees(-m_gyro.getAngle()),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -183,7 +185,7 @@ else if (angleDif > 0.85*Math.PI) {
 
     var swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(
         fieldRelative
-            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(m_gyro.getAngle()))
+            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(-m_gyro.getAngle()))
             : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
     SwerveDriveKinematics.desaturateWheelSpeeds(
         swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
@@ -197,10 +199,10 @@ else if (angleDif > 0.85*Math.PI) {
    * Sets the wheels into an X formation to prevent movement.
    */
   public void setX() {
-    m_frontLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
-    m_frontRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
-    m_rearLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
-    m_rearRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
+    m_frontLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
+    m_frontRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
+    m_rearLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
+    m_rearRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
   }
 
   /**
@@ -236,7 +238,7 @@ public void zeroHeading() {
    * @return the robot's heading in degrees, from -180 to 180
    */
   public double getHeading() {
-    return Rotation2d.fromDegrees(m_gyro.getAngle()).getDegrees();
+    return Rotation2d.fromDegrees(-m_gyro.getAngle()).getDegrees();
   }
 
   /**

From ba5aa3105d0979523728a9c6cff147d7c38c7e00 Mon Sep 17 00:00:00 2001
From: xeldridge18 <xeldridge13@gmail.com>
Date: Tue, 17 Dec 2024 16:21:05 -0600
Subject: [PATCH 14/14] PathPlanner Work

---
 .pathplanner/settings.json                    |  14 +
 src/main/deploy/pathplanner/navgrid.json      |   1 +
 .../pathplanner/paths/New New Path.path       | 116 ++++++++
 .../deploy/pathplanner/paths/New Path.path    | 271 ++++++++++++++++++
 4 files changed, 402 insertions(+)
 create mode 100644 .pathplanner/settings.json
 create mode 100644 src/main/deploy/pathplanner/navgrid.json
 create mode 100644 src/main/deploy/pathplanner/paths/New New Path.path
 create mode 100644 src/main/deploy/pathplanner/paths/New Path.path

diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
new file mode 100644
index 0000000..70c55ea
--- /dev/null
+++ b/.pathplanner/settings.json
@@ -0,0 +1,14 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "New Folder"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 0000000..bab0da9
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New New Path.path b/src/main/deploy/pathplanner/paths/New New Path.path
new file mode 100644
index 0000000..c68786f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New New Path.path	
@@ -0,0 +1,116 @@
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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
new file mode 100644
index 0000000..45cfa6c
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -0,0 +1,271 @@
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