RobotContainer.java

// 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;

import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.commands.Drive;
import frc.robot.commands.Intake;
import frc.robot.commands.Shoot;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Feeder;
import frc.robot.subsystems.ShooterAndIntake;

public class RobotContainer {
  Drivetrain drivetrain = new Drivetrain();
  ShooterAndIntake shooterAndIntake = new ShooterAndIntake();
  Feeder feeder = new Feeder();

  XboxController driveController = new XboxController(0);
  XboxController opController = new XboxController(1);

  public RobotContainer() {
    drivetrain.setDefaultCommand(new Drive(
      drivetrain, 
      () -> driveController.getRawAxis(1), 
      () -> -driveController.getRawAxis(4)));
    configureBindings();
  }

  private void configureBindings() {
    new JoystickButton(opController, 6).whileTrue(new Shoot(feeder, shooterAndIntake));
    new JoystickButton(opController, 5).whileTrue(new Intake(feeder, shooterAndIntake));

    //new JoystickButton(driveController, 1).whileTrue(Commands.runEnd(() -> drivetrain.frontLeft.set(0.5), () -> drivetrain.frontLeft.set(0), drivetrain));
  }

  public Command getAutonomousCommand() {
    return Commands.print("No autonomous command configured");
  }
}