cleaned up bindings, and made every binding how we want for competito…

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

@@ -195,8 +195,6 @@ private void indexInit() {
   private void indexCommandInst() {
     defaulNoteHandlingCommand = new IndexCommand(indexer, driverController::getR2Button, driverController::getL2Button, shooter, intake, driveTrain, angleShooterSubsystem);
     indexer.setDefaultCommand(defaulNoteHandlingCommand);
-    shooter.setDefaultCommand(defaulNoteHandlingCommand);
-    intake.setDefaultCommand(defaulNoteHandlingCommand);
   }
 
   private void autoInit() {
@@ -223,44 +221,45 @@ private void lightsInst() {
    * joysticks}.
    */
   private void configureBindings() {
-    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-    new Trigger(m_exampleSubsystem::exampleCondition)
-        .onTrue(new ExampleCommand(m_exampleSubsystem));
-
     // new Trigger(driverController::getCrossButton).onTrue(new autoAimParallel(driveTrain/*, shooter*/));
     new Trigger(driverController::getPSButton).onTrue(new InstantCommand(driveTrain::zeroGyroscope));
-    SmartDashboard.putData(new RotateRobot(driveTrain, driveTrain::calculateSpeakerAngle));
-    new Trigger(driverController::getTriangleButton).onTrue(new GoToClimbSpot(driveTrain, climbSpotChooser));
-    new Trigger(driverController::getCrossButton).whileTrue(new GoToAmp(driveTrain));
-    new Trigger(driverController::getR1Button).whileTrue(new AimRobotMoving(
+    new Trigger(driverController::getCircleButton).whileTrue(new GoToAmp(driveTrain));
+    new Trigger(driverController::getL2Button).whileTrue(new AimRobotMoving(
       driveTrain,
       () -> modifyAxis(-driverController.getRawAxis(Z_AXIS), DEADBAND_NORMAL),
       () -> modifyAxis(-driverController.getRawAxis(Y_AXIS), DEADBAND_NORMAL),
       () -> modifyAxis(-driverController.getRawAxis(X_AXIS), DEADBAND_NORMAL),
-      driverController::getR1Button));
-
-    new Trigger(driverController::getCircleButton).onTrue(new CollectNote(driveTrain, limelight));
-    new Trigger(driverController::getTouchpadPressed).onTrue(new InstantCommand(driveTrain::stop, driveTrain));
+      driverController::getL2Button));
 
+    new Trigger(driverController::getR1Button).onTrue(new CollectNote(driveTrain, limelight));
     if(shooterExists) {
-      new Trigger(operatorController::getCircleButton).onTrue(new ManualShoot(shooter));
       AngleShooter shooterUpCommand = new AngleShooter(angleShooterSubsystem, () -> Constants.ShooterConstants.shooterup);
-      new Trigger(driverController::getL1Button).onTrue(shooterUpCommand);
+      new Trigger(()->driverController.getPOV() == 180).whileTrue(shooterUpCommand);
       SmartDashboard.putData("Manual Angle Shooter Up", shooterUpCommand);
     }
+    if(indexerExists) {
+      new Trigger(driverController::getL1Button).whileTrue(new ManualShoot(indexer));
+    }
     if(climberExists) {
-      new Trigger(operatorController::getCrossButton).onTrue(new AutoClimb(climber)).onFalse(new InstantCommand(()-> climber.climberStop()));
-      new Trigger(operatorController::getTriangleButton).onTrue(new InstantCommand(()-> climber.climberGo(ClimberConstants.CLIMBER_SPEED_UP))).onFalse(new InstantCommand(()-> climber.climberStop()));
-      new Trigger(operatorController::getSquareButton).onTrue(new ClimberPullDown(climber));
+      new Trigger(driverController::getCrossButton).onTrue(new AutoClimb(climber)).onFalse(new InstantCommand(()-> climber.climberStop()));
+      new Trigger(driverController::getTriangleButton).onTrue(new InstantCommand(()-> climber.climberGo(ClimberConstants.CLIMBER_SPEED_UP))).onFalse(new InstantCommand(()-> climber.climberStop()));
+      new Trigger(driverController::getSquareButton).whileTrue(new ClimberPullDown(climber));
     }
     SmartDashboard.putData("set offsets", new InstantCommand(driveTrain::setEncoderOffsets));
     SmartDashboard.putData(new InstantCommand(driveTrain::forceUpdateOdometryWithVision));
-
-    // //Intake bindings
-    // new Trigger(operatorController::getL1Button).onTrue(new IntakeCommand(intake, iDirection.INTAKE));
-   // new Trigger(operatorController::getL2Button).onTrue(new IntakeCommand(intake, iDirection.OUTAKE));
-   // new Trigger(operatorController::getR2Button).onTrue(new IntakeCommand(intake, iDirection.COAST));
-    //for testing Rotate Robot command
+/* bindings:
+ *    L2: aim at speaker and rev up shooter to max (hold)
+ *    L1: manually feed shooter (hold)
+ *    R2: shoot if everything is lined up (hold)
+ *    R1: automatically pick up note (press)
+ *    Circle: lineup with the amp (hold)
+ *    D-Pad down: move shooter up manually (hold)
+ *    D-pad right: aim shooter at amp (hold)
+ *    Triangle: move climber up (hold)
+ *    Cross: auto-climb down (hold)
+ *    Square: manually pull down with climber (hold)
+ *    
+ */
     };
 
 

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

@@ -24,7 +24,7 @@ public void initialize() {
 
 	@Override
 	public void execute() {
-		if (!(aimAtAmpSupplier.getAsDouble() == 0)) {
+		if (!(aimAtAmpSupplier.getAsDouble() == 90)) {
 			double desiredShooterAngleSpeed = angleShooterSubsystem.calculateSpeakerAngleDifference() * ShooterConstants.AUTO_AIM_SHOOTER_kP;
 			angleShooterSubsystem.pitchShooter(desiredShooterAngleSpeed);
 		} else {

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

@@ -69,7 +69,7 @@ public void execute() {
       if(revUpSupplier.getAsBoolean()) {
         shooter.shootThing(1);
       } else {
-        shooter.shootThing(0.3);
+        shooter.shootThing(ShooterConstants.SHOOTER_AMP_POWER);
       }
     }
     if (shootIfReadySupplier.getAsBoolean()) {

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

@@ -4,16 +4,16 @@
 
 package frc.robot.commands;
 import frc.robot.settings.Constants.ShooterConstants;
-import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.IndexerSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 
 public class ManualShoot extends Command {
-  public ShooterSubsystem shooter;
+  private IndexerSubsystem indexer;
   /** Creates a new ManualShoot. */
-  public ManualShoot(ShooterSubsystem shooter) {
+  public ManualShoot(IndexerSubsystem indexer) {
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(shooter);
-    this.shooter = shooter;
+    addRequirements(indexer);
+    this.indexer = indexer;
   }
 
   // Called when the command is initially scheduled.
@@ -23,13 +23,13 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    shooter.shootThing(ShooterConstants.SHOOTER_MOTOR_POWER);
+    indexer.on();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    shooter.turnOff();
+    indexer.off();
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/settings/Constants.java

@@ -258,6 +258,7 @@ public static final class ShooterConstants{
   public static final int SHOOTER_L_MOTORID = 2491;
   public static final int PITCH_MOTOR_ID = 2491;
   public static final double SHOOTER_MOTOR_POWER = 1;
+  public static final double SHOOTER_AMP_POWER = 0.3;
   public static final double SHOOTING_SPEED_MPS = 10;
   public static final double RUNNING_VELOCITY_RPS = 2491;
   public static final double ALLOWED_ERROR = 1;