tweak buttons

Author: mwitcpalek

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

@@ -9,6 +9,7 @@
 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.coral.EnableEjectBeamCommand;
 import frc.robot.commands.coral.OpenLoopCoralCommand;
 import frc.robot.commands.drive.DriveTeleopCommand;
 import frc.robot.controllers.FlyskyJoystick;
@@ -58,10 +59,19 @@ private void configureDriverBindings() {
   }
 
   private void configureOperatorBindings() {
-    new JoystickButton(xboxController, XboxController.Button.kA.value)
-        .onTrue(new OpenLoopCoralCommand(coralSubsystem, 0.5));
+    // Stop Coral
     new JoystickButton(xboxController, XboxController.Button.kB.value)
-        .onTrue(new OpenLoopCoralCommand(coralSubsystem, -0.5));
+        .onTrue(new OpenLoopCoralCommand(coralSubsystem, 0));
+
+    // Intake Coral
+    new JoystickButton(xboxController, XboxController.Button.kY.value)
+        .onTrue(new OpenLoopCoralCommand(coralSubsystem, -0.5))
+        .onTrue(new EnableEjectBeamCommand(false, coralSubsystem));
+
+    // Eject Coral
+    new JoystickButton(xboxController, XboxController.Button.kA.value)
+        .onTrue(new OpenLoopCoralCommand(coralSubsystem, -0.5))
+        .onTrue(new EnableEjectBeamCommand(true, coralSubsystem));
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/coral/EnableEjectBeamCommand.java

@@ -0,0 +1,19 @@
+package frc.robot.commands.coral;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.coral.CoralSubsystem;
+
+public class EnableEjectBeamCommand extends InstantCommand {
+  private CoralSubsystem coralSubsystem;
+  private Boolean enable;
+
+  public EnableEjectBeamCommand(Boolean enable, CoralSubsystem coralSubsystem) {
+    this.coralSubsystem = coralSubsystem;
+    this.enable = enable;
+  }
+
+  @Override
+  public void initialize() {
+    coralSubsystem.enableEjectBeam(enable);
+  }
+}

src/main/java/frc/robot/subsystems/coral/CoralSubsystem.java

@@ -47,6 +47,10 @@ public void setPct(double percentOutput) {
     io.setPct(percentOutput);
   }
 
+  public void enableEjectBeam(boolean enable) {
+    io.enableRevLimitSwitch(enable);
+  }
+
   @Override
   public boolean atSpeed() {
     return setpoint.minus(inputs.velocity).abs(RotationsPerSecond)