Made basic command (Needs testing)

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

@@ -21,6 +21,7 @@
 import frc.robot.commands.ResetGyro;
 import frc.robot.commands.RunAlgaeIntake;
 import frc.robot.commands.RunCoralOuttake;
+import frc.robot.commands.RunEndEffectorIntake;
 import frc.robot.commands.SwerveCharacterization;
 import frc.robot.constants.ROBOT;
 import frc.robot.constants.SWERVE;
@@ -30,6 +31,7 @@
 import frc.robot.subsystems.AlgaeIntake;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.CoralOuttake;
+import frc.robot.subsystems.EndEffector;
 import frc.robot.utils.SysIdUtils;
 import frc.robot.utils.Telemetry;
 
@@ -45,7 +47,7 @@ public class RobotContainer {
   private final Telemetry m_telemetry = new Telemetry();
   private final CoralOuttake m_coralOuttake = new CoralOuttake();
   private final AlgaeIntake m_algaeIntake = new AlgaeIntake();
-
+  private final EndEffector m_endEffector = new EndEffector();
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final Joystick leftJoystick = new Joystick(USB.leftJoystick);
   private final SendableChooser<Command> m_sysidChooser = new SendableChooser<>();
@@ -173,8 +175,9 @@ private void configureBindings() {
     m_driverController
         .rightBumper()
         .whileTrue(new RunCoralOuttake(m_coralOuttake, -0.15)); // intake
-    m_driverController.x().whileTrue(new RunAlgaeIntake(m_algaeIntake, 0.5)); // outtake
+    m_driverController.x().whileTrue(new RunAlgaeIntake(m_algaeIntake, 0.5)); // ou,ttake
     m_driverController.y().whileTrue(new RunAlgaeIntake(m_algaeIntake, -0.5)); // intake
+    m_driverController.leftTrigger().whileTrue(new RunEndEffectorIntake(m_endEffector, 0.4414)); //
   }
 
   /**

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

@@ -5,20 +5,20 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.AlgaeIntake;
+import frc.robot.subsystems.EndEffector;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class RunAlgaeIntake extends Command {
+public class RunEndEffectorIntake extends Command {
 
-  private final AlgaeIntake m_algaeIntake;
+  private final EndEffector m_EndEffector;
   private final double m_speed;
 
   /** Creates a new SetAlgaeIntakeSpeed. */
-  public RunAlgaeIntake(AlgaeIntake algae, double speed) {
-    m_algaeIntake = algae;
+  public RunEndEffectorIntake(EndEffector endeffector, double speed) {
+    m_EndEffector = endeffector;
     m_speed = speed;
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(m_algaeIntake);
+    addRequirements(m_EndEffector);
   }
 
   // Called when the command is initially scheduled.
@@ -28,13 +28,13 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_algaeIntake.setPercentOutput(m_speed);
+    m_EndEffector.setPercentOutput(m_speed);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    m_algaeIntake.setPercentOutput(0);
+    m_EndEffector.setPercentOutput(0);
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/constants/CAN.java

@@ -22,5 +22,5 @@ public class CAN {
 
   public static final int coralOuttakeMotor = 30;
   public static final int algaeMotor = 31;
-  public static final int EndEffector = 35;
+  public static final int endEffector = 35;
 }

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

@@ -13,7 +13,7 @@
 import frc.robot.utils.CtreUtils;
 
 public class EndEffector extends SubsystemBase {
-  private final TalonFX m_endEffectorMotor = new TalonFX(CAN.EndEffector);
+  private final TalonFX m_endEffectorMotor = new TalonFX(CAN.endEffector);
 
   /** Creates a new EndEffector. */
   public EndEffector() {