tried my best to make the eject command🦟™️ (#33)

* tried my best to make the eject command🦟™️

* added making it stop once done🦟™️

Author: BrodyKarr

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 frc.robot.commands.Drive;
+import frc.robot.commands.EjectGP;
 import frc.robot.commands.IntakeGround;
 import frc.robot.commands.PrepShooter;
 import frc.robot.commands.Shoot;
@@ -27,7 +28,8 @@ public class RobotContainer {
   private final Hopper subHopper = new Hopper();
   private final Shooter subShooter = new Shooter();
   private final Stager subStager = new Stager();
-  private final Drive com_Drive = new Drive(subDrivetrain, m_driverController.axis_LeftY, m_driverController.axis_RightX);
+  private final Drive com_Drive = new Drive(subDrivetrain, m_driverController.axis_LeftY,
+      m_driverController.axis_RightX);
   private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subHopper);
   private final PrepShooter com_PrepShooter = new PrepShooter(subShooter);
   private final StageGP com_StageGP = new StageGP(subStager);
@@ -43,7 +45,11 @@ private void configureBindings() {
     m_driverController.btn_LeftBumper.whileTrue(new intakeHopper(subHopper));
     m_driverController.btn_X.whileTrue(com_PrepShooter);
     m_driverController.btn_A.whileTrue(com_StageGP);
+
+    m_driverController.btn_RightBumper.whileTrue(new EjectGP(subIntake, subHopper));
+
     m_driverController.btn_Y.onTrue(com_Shoot);
+
   }
 
   public Command getAutonomousCommand() {

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

@@ -0,0 +1,47 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Hopper;
+import frc.robot.subsystems.Intake;
+
+public class EjectGP extends Command {
+  /** Creates a new EjectGP. */
+
+  Intake globalIntake;
+  Hopper globalHopper;
+
+  public EjectGP(Intake subIntake, Hopper subHopper) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.globalHopper = subHopper;
+    this.globalIntake = subIntake;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    globalIntake.setTopMotorVelocity(-0.5);
+    globalIntake.setBottomMotorVelocity(-0.5);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    globalHopper.setHopperMotorNuetralOutput();
+    globalIntake.setIntakeNuetralOutput(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -27,6 +27,12 @@ public void setBottomMotorVelocity(double velocity) {
     topMotor.set(velocity);
   }
 
+  public void setIntakeNuetralOutput(double velocity) {
+    topMotor.set(0);
+    bottomMotor.set(0);
+
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run