Eject intake dev

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

@@ -326,6 +326,9 @@ private void configureBindings() {
 
         // When the shooter isnt shooting, get it ready to shoot.
         shooter_.setDefaultCommand(shooter_.awaitShooting(drivebase_::getPose));
+
+        //While the A button is held, the intake will run the eject sequence. If it the intake is stowed, it will also deploy it.
+        gamepad_.a().whileTrue(intake_.ejectSequence());
     }
 
     private void configureDriveBindings() {

src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

@@ -52,6 +52,7 @@ public final class IntakeConstants {
 
     public static final AngularVelocity rollerMaxVelocity= DegreesPerSecond.of(360); //Temporary speed to be changed as needed 
     public static final Voltage rollerCollectVoltage= Volts.of(6); //Temporary voltage
+    public static final Voltage rollerEjectVoltage= Volts.of(-6); //Temporary voltage
 
     public static final Angle pivotTolerance = Degrees.of(5); //Tolerance to compare current angle to target
 

src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java

@@ -69,6 +69,10 @@ private void stopIntaking() {
         io.stopRoller();
     }
 
+    private void eject(){
+        io.setRollerVoltage(IntakeConstants.rollerEjectVoltage);
+    }
+
     /**
      * Stows the intake and hopper.
      */
@@ -150,6 +154,16 @@ public Command intakeSequence() {
         ).finallyDo(interrupted -> waiting());
     }
 
+    public Command runEjectCmd() {
+        return startEnd(this::eject, this::stopIntaking);
+    }
+
+    public Command ejectSequence() {
+        return runEjectCmd().beforeStarting(
+            deployCmd().unless(this::isIntakeDeployed)
+        ).finallyDo(interrupted -> waiting());
+    }
+
     ////////////////////////////
     /// Sys ID Routine creation/
     /// ////////////////////////