Add conveyor commands

src/main/java/com/stuypulse/robot/commands/conveyor/ConveyorShoot.java

@@ -0,0 +1,21 @@
+package com.stuypulse.robot.commands.conveyor;
+
+import com.stuypulse.robot.subsystems.conveyor.Conveyor;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ConveyorShoot extends Command{
+
+    private final Conveyor conveyor;
+
+    public ConveyorShoot() {
+        conveyor = Conveyor.getInstance();
+
+        addRequirements(conveyor);
+    }
+
+    @Override
+    public void initialize() {
+        conveyor.toShooter();
+    }
+}

src/main/java/com/stuypulse/robot/commands/conveyor/ConveyorStop.java

@@ -0,0 +1,22 @@
+package com.stuypulse.robot.commands.conveyor;
+
+import com.stuypulse.robot.subsystems.conveyor.Conveyor;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ConveyorStop extends Command{
+
+    private Conveyor conveyor;
+
+    public ConveyorStop() {
+        conveyor = Conveyor.getInstance();
+
+        addRequirements(conveyor);
+    }
+
+    @Override
+    public void initialize() {
+        conveyor.stop();
+    }
+
+}

src/main/java/com/stuypulse/robot/commands/conveyor/ConveyorToAmp.java

@@ -0,0 +1,44 @@
+package com.stuypulse.robot.commands.conveyor;
+
+import com.stuypulse.robot.subsystems.conveyor.Conveyor;
+
+import com.stuypulse.robot.subsystems.intake.Intake;
+
+import com.stuypulse.robot.subsystems.amper.Amper;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ConveyorToAmp extends Command{
+
+    private final Conveyor conveyor;
+    private final Intake intake;
+    private final Amper amper;
+
+    public ConveyorToAmp() {
+        conveyor = Conveyor.getInstance();
+        intake = Intake.getInstance();
+        amper = Amper.getInstance();
+
+        addRequirements(conveyor, intake, amper);
+    }
+
+    @Override
+    public void execute() {
+        conveyor.toAmp();
+        intake.acquire();
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        conveyor.stop();
+        intake.stop();
+        amper.stopRoller();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return amper.hasNote();
+    }
+}
+
+

src/main/java/com/stuypulse/robot/commands/conveyor/ConveyorToShooter.java

@@ -0,0 +1,38 @@
+package com.stuypulse.robot.commands.conveyor;
+
+import com.stuypulse.robot.subsystems.conveyor.Conveyor;
+
+import com.stuypulse.robot.subsystems.intake.Intake;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ConveyorToShooter extends Command{
+
+    private final Conveyor conveyor;
+    private final Intake intake;
+
+    public ConveyorToShooter() {
+        conveyor = Conveyor.getInstance();
+        intake = Intake.getInstance();
+
+        addRequirements(conveyor, intake);
+    }
+
+    @Override
+    public void execute() {
+        conveyor.toShooter();
+        intake.acquire();
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        conveyor.stop();
+        intake.stop();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return conveyor.isNoteAtShooter();
+    }
+
+}

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -224,8 +224,9 @@ public interface Detection {
 
     public interface Conveyor {
         SmartNumber GANDALF_SHOOTER_SPEED = new SmartNumber("Conveyor/Gandalf Shooter Speed", 1);
-        SmartNumber GANDALF_AMP_SPEED = new SmartNumber("Conveyor/Gandalf Amp Speed", -1);
-        SmartNumber SHOOTER_FEEDER_SPEED = new SmartNumber("Conveyor/Shooter Feeder Speed", 1);
+        SmartNumber GANDALF_AMP_SPEED = new SmartNumber("Conveyor/Gandalf Amp Speed", 1);
+        SmartNumber FEEDER_SHOOTER_SPEED = new SmartNumber("Conveyor/Shooter Feeder Speed", 1);
+        SmartNumber FEEDER_AMP_SPEED = new SmartNumber("Conveyor/Shooter Feeder Speed", 1);
 
         SmartNumber DEBOUNCE_TIME = new SmartNumber("Conveyor/Debounce Time", 0.2);
     }

src/main/java/com/stuypulse/robot/subsystems/conveyor/Conveyor.java

@@ -26,14 +26,10 @@ public static Conveyor getInstance(){
         return instance;
     };
 
-
     public abstract void toShooter();
-
     public abstract void toAmp();
-
-    public abstract boolean isNoteAtShooter();
-
     public abstract void stop();
 
+    public abstract boolean isNoteAtShooter();
 }
 

src/main/java/com/stuypulse/robot/subsystems/conveyor/ConveyorImpl.java

@@ -11,15 +11,13 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
-
-
 public class ConveyorImpl extends Conveyor {
 
     private final CANSparkMax gandalfMotor;
     private final CANSparkMax shooterFeederMotor;
     private final DigitalInput irSensor;
 
-    private BStream isAtShooter;
+    private final BStream isAtShooter;
 
     protected ConveyorImpl() {
         gandalfMotor = new CANSparkMax(Ports.Conveyor.GANDALF, MotorType.kBrushless);
@@ -43,13 +41,13 @@ public boolean isNoteAtShooter() {
     @Override
     public void toShooter() {
         gandalfMotor.set(Settings.Conveyor.GANDALF_SHOOTER_SPEED.get());
-        shooterFeederMotor.set(Settings.Conveyor.SHOOTER_FEEDER_SPEED.get());
+        shooterFeederMotor.set(Settings.Conveyor.FEEDER_SHOOTER_SPEED.get());
     }
 
     @Override
     public void toAmp() {
-        gandalfMotor.set(Settings.Conveyor.GANDALF_AMP_SPEED.get());
-
+        gandalfMotor.set(-Settings.Conveyor.GANDALF_AMP_SPEED.get());
+        shooterFeederMotor.set(Settings.Conveyor.FEEDER_AMP_SPEED.get());
     }
 
     public void stop() {
@@ -59,15 +57,11 @@ public void stop() {
 
     @Override
     public void periodic() {
-
-        //logging
         SmartDashboard.putNumber("Conveyor/Gandalf Motor Current", gandalfMotor.getOutputCurrent());
         SmartDashboard.putNumber("Conveyor/Shooter Feeder Motor Current", shooterFeederMotor.getOutputCurrent());
 
         SmartDashboard.putNumber("Conveyor/Gandalf Motor Speed", gandalfMotor.get());
         SmartDashboard.putNumber("Conveyor/Shooter Feeder Motor Spped", shooterFeederMotor.get());
-
     }
 
-
 }