first pass

Author: themehdev

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

@@ -297,7 +297,7 @@ private void configureBindings() {
         gamepad_.back().or(operatorGamepad_.back()).onTrue(shooter_.cycleTuning()) ;
 
         // While the left trigger is held, we will run the intake. If the intake is stowed, it will also deploy it.
-        gamepad_.leftTrigger().or(operatorGamepad_.leftTrigger()).whileTrue(RobotCommands.intake(intake_, hopper_));
+        gamepad_.leftTrigger().or(operatorGamepad_.leftTrigger()).whileTrue(RobotCommands.intake(intake_, hopper_, drivebase_, () -> new Rotation2d(Math.atan2(gamepad_.getLeftY(), gamepad_.getLeftX()))));
 
         // While the right trigger is held, we will shoot into the hub or ferry. Binding A to the shaking of the shooter.
         gamepad_.rightTrigger().or(operatorGamepad_.rightTrigger())

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

@@ -184,7 +184,9 @@ public static Command ejectUp(Shooter shooter, Hopper hopper) {
      * @param hopper
      * @return
      */
-    public static Command intake(IntakeSubsystem intake, Hopper hopper) {
-        return intake.intakeSequence().alongWith(hopper.collectScrambler());
+    public static Command intake(IntakeSubsystem intake, Hopper hopper, Drive drive, Supplier<Rotation2d> angle) {
+        return intake.intakeSequence().alongWith(hopper.collectScrambler(), DriveCommands.joystickDriveAtAngle(() -> {
+            return angle.get();
+        }));
     }
 }