From 28a57d911711b1312cb0edc2aadcbd3d44b2fdbd Mon Sep 17 00:00:00 2001
From: keira1008 <>
Date: Thu, 27 Feb 2025 12:48:17 -0800
Subject: [PATCH] intake pos button

---
 src/main/java/frc/robot/Constants.java      | 1 +
 src/main/java/frc/robot/RobotContainer.java | 8 ++++++++
 2 files changed, 9 insertions(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 0b9fd9b..9fdf9a1 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -299,6 +299,7 @@ public static final class OIConstants {
     public static final int kLevel1Button = kA;
     public static final int kLevel2Button = kBack;
     public static final int kLevel3Button = kStart;
+    public static final int kIntakePosition = kB;
     public static final int kIntakeCoralButton = kX;
     public static final int kIntakeALgaePOV = 0;
     public static final int kEjectButton = kY;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7c96b93..d36e389 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -216,6 +216,14 @@ private void configureBindings() {
         .onTrue(Commands.runOnce(() ->
           m_crane.moveTo(CraneConstants.kPositionL3), m_crane));
 
+      // Manual crane to intake
+      new Trigger(() -> 
+          m_operatorController.getRawButton(OIConstants.kManualOperatorMode) &&
+          m_operatorController.getRawButton(OIConstants.kIntakePosition))
+        .debounce(OIConstants.kDebounceSeconds)
+        .onTrue(Commands.runOnce(() ->
+          m_crane.moveTo(CraneConstants.kPositionIntake), m_crane));
+
       // Manual intake coral
       new Trigger(() -> 
           m_operatorController.getRawButton(OIConstants.kManualOperatorMode) &&