fixes on command, finish neo and vortex

src/main/java/frc/robot/Constants.java

@@ -31,6 +31,10 @@ public static final class IntakeMotors {
             public static final int LMOTOR = 1;
             public static final int RMOTOR = 2;
         }
+        public static final class RandomMotors {
+            public static final int NEOVORTEX = 10;
+            public static final int FALCON = 11;
+        }
     }
 
     /**

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

@@ -10,7 +10,9 @@
 import frc.robot.commands.Drive;
 import frc.robot.commands.IntakeCommand;
 import frc.robot.commands.OutTakeCommand;
+import frc.robot.commands.RandomMotorCommand;
 import frc.robot.subsystems.Intake.Intake;
+import frc.robot.subsystems.RandomMotors.RandomMotors;
 import frc.robot.subsystems.drive.Drivetrain;
 import frc.robot.subsystems.drive.DrivetrainIO;
 import frc.robot.subsystems.drive.DrivetrainReal;
@@ -30,7 +32,7 @@ public class RobotContainer {
     /* Subsystems */
     private Drivetrain driveTrain;
     private Intake intake;
-
+    private RandomMotors randMot;
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -63,12 +65,12 @@ public RobotContainer(RobotRunType runtimeType) {
     ;
 
     private void configureButtonBindings() {
-        driver.rightTrigger().whileTrue(new OutTakeCommand(intake, driver));
-        driver.leftTrigger().whileTrue(new IntakeCommand(intake, driver));
-
+        driver.rightTrigger().whileTrue(new OutTakeCommand(intake));
+        driver.leftTrigger().whileTrue(new IntakeCommand(intake));
+        driver.a().whileTrue(new RandomMotorCommand(randMot));
+    }
 
 
-    }
 
     /**
      * Gets the user's selected autonomous command.

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

@@ -1,23 +1,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.subsystems.Intake.Intake;
 
 public class IntakeCommand extends Command {
-    private CommandXboxController controller;
     private Intake intake;
 
-    public IntakeCommand(Intake intake, CommandXboxController controller) {
-        this.controller = controller;
+    public IntakeCommand(Intake intake) {
         this.intake = intake;
         addRequirements(intake);
     }
 
     @Override
     public void execute() {
         intake.setIntakeVoltage(1);
-        controller.leftTrigger().whileTrue(new InstantCommand(() -> intake.setIntakeVoltage(-1)));
     }
 }

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

@@ -1,24 +1,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.subsystems.Intake.Intake;
 
 public class OutTakeCommand extends Command {
-    private CommandXboxController controller;
     private Intake intake;
 
-    public OutTakeCommand(Intake intake, CommandXboxController controller) {
-        this.controller = controller;
+    public OutTakeCommand(Intake intake) {
         this.intake = intake;
         addRequirements(intake);
     }
 
     @Override
     public void execute() {
         intake.setIntakeVoltage(-1);
-        controller.rightTrigger().whileTrue(new InstantCommand(() -> intake.setIntakeVoltage(1)));
-        controller.leftTrigger().whileTrue(new InstantCommand(() -> intake.setIntakeVoltage(-1)));
     }
 }

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

@@ -0,0 +1,18 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.RandomMotors.RandomMotors;
+
+public class RandomMotorCommand extends Command {
+    private RandomMotors randMot;
+
+    public RandomMotorCommand(RandomMotors randMot) {
+        this.randMot = randMot;
+        addRequirements(randMot);
+    }
+
+    @Override
+    public void execute() {
+        randMot.runMotor(1);
+    }
+}

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

@@ -0,0 +1,23 @@
+package frc.robot.subsystems.RandomMotors;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class RandomMotors extends SubsystemBase {
+    private RandomMotorsIO io;
+    private RandomMotorsIOInputsAutoLogged inputs = new RandomMotorsIOInputsAutoLogged();
+
+    public RandomMotors(RandomMotorsIO io) {
+        this.io = io;
+    }
+
+    @Override
+    public void periodic() {
+        io.updateInputs(inputs);
+    }
+
+    public void runMotor(double power) {
+        io.runMotor(power);
+    }
+
+
+}

src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsIO.java

@@ -0,0 +1,18 @@
+package frc.robot.subsystems.RandomMotors;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface RandomMotorsIO {
+
+
+    @AutoLog
+    public static class RandomMotorsIOInputs {
+        public double falconMotor;
+        public double neoVortex;
+
+    }
+
+    public default void updateInputs(RandomMotorsIOInputs inputs) {}
+
+    public default void runMotor(double voltage) {}
+}

src/main/java/frc/robot/subsystems/RandomMotors/RandomMotorsReal.java

@@ -0,0 +1,21 @@
+package frc.robot.subsystems.RandomMotors;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+import frc.robot.Constants;
+
+public class RandomMotorsReal implements RandomMotorsIO {
+    private final CANSparkMax neoVortex =
+        new CANSparkMax(Constants.Motors.RandomMotors.NEOVORTEX, MotorType.kBrushless);
+    private final TalonFX Falcon = new TalonFX(Constants.Motors.RandomMotors.FALCON);
+
+    @Override
+    public void updateInputs(RandomMotorsIOInputs inputs) {}
+
+    public void runMotor(double power) {
+        neoVortex.set(power);
+        Falcon.set(power);
+    }
+
+}