added kitbot commands. values for motor ids and speeds will need to b…

src/main/java/frc/robot/Joysticks.java/DriverJoystick.java

@@ -0,0 +1,64 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.FuelSubsystem;
+
+public class DriverJoystick {
+    private final CommandXboxController joystick;
+    private final CommandSwerveDrivetrain drivetrain;
+    private final FuelSubsystem fuelSubsystem;
+
+    public DriverJoystick(CommandXboxController joystick, CommandSwerveDrivetrain drivetrain, FuelSubsystem fuelSubsystem) {
+
+        this.joystick = joystick;
+        this.drivetrain = drivetrain;
+        this.fuelSubsystem = fuelSubsystem;
+    }
+
+    public void configureButtonBindings() {
+        joystick.a()
+            .whileTrue(fuelSubsystem.intake())
+            .onFalse(
+                Commands.run(
+                    () -> {
+                        fuelSubsystem.stop();
+                    }
+                )
+            );
+
+        joystick.b()
+            .whileTrue(fuelSubsystem.eject())
+            .onFalse(
+                Commands.run(
+                    () -> {
+                        fuelSubsystem.stop();
+                    }
+                )
+            );
+
+        joystick.x()
+            .onTrue(fuelSubsystem.launch().withTimeout(0.5))
+            .onFalse(
+                Commands.run(
+                    () -> {
+                        fuelSubsystem.stop();
+                    }
+                )
+            );
+
+        joystick.y()
+            .whileTrue(fuelSubsystem.spinUp().withTimeout(0.5))
+            .onFalse(
+                Commands.run(
+                    () -> {
+                        fuelSubsystem.stop();
+                    }
+                )
+            );
+
+        joystick.rightBumper().onTrue(fuelSubsystem.stop());
+    }
+} 

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

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+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class FuelSubsystem extends SubsystemBase {
+    public static TalonFX intakeLauncherRoller = new TalonFX(1);
+    public static TalonFX feederRoller = new TalonFX(2);
+
+
+    double launcherIntakeSpeed = 0.5;
+    double launcherLaunchSpeed = 0.7;
+
+    double rollerIntakeSpeed = 0.4;
+    double rollerLaunchSpeed = 0.6;
+    double rollerSpinUpSpeed = 0.5;
+
+    //most values are placeholders
+    public Command intake() {
+        return Commands.run(
+            () -> {
+                intakeLauncherRoller.set(launcherIntakeSpeed);
+                feederRoller.set(rollerIntakeSpeed);
+            }
+        );
+    }
+
+    public Command eject() {
+        return Commands.run(
+            () -> {
+                intakeLauncherRoller.set(-launcherIntakeSpeed);
+                feederRoller.set(-rollerIntakeSpeed);
+            }
+        );
+    }
+
+    public Command stop() {
+        return Commands.run(
+            () -> {
+                intakeLauncherRoller.set(0);
+                feederRoller.set(0);
+            }
+        );
+    }
+
+    public Command launch() {
+        return Commands.run(
+            () -> {
+                intakeLauncherRoller.set(launcherLaunchSpeed);
+                feederRoller.set(rollerLaunchSpeed);
+            }
+        );
+    }
+
+    public Command spinUp() {
+        return Commands.run(
+            () -> {
+                intakeLauncherRoller.set(launcherLaunchSpeed);
+                feederRoller.set(rollerSpinUpSpeed);
+            }
+        );
+    }
+}