New Dump Code

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

@@ -32,13 +32,32 @@ public static final class Auton {
     public static final double MAX_ACCELERATION = 2;
   }
 
+  public static final class PneumaticsConstants {
+
+    public static final int PneumaticsMoudleID = 30;
+
+    public static final class DumpConstants {
+
+      // Upy Downy solonoid
+      public static final int OUT = 0;
+      public static final int IN = 1;
+    }
+
+    public static final class ElevatorConstants {
+      // upy downy chain lift thing
+
+    }
+  }
+
   public static final class Drivebase {
 
     // Hold time on motor brakes when disabled
     public static final double WHEEL_LOCK_TIME = 10; // seconds
   }
 
   public static class OperatorConstants {
+    public static final int DRIVER_CONTROLLER = 0;
+    public static final int COPILOT_CONTROLLER = 1;
 
     // Joystick Deadband
     public static final double LEFT_X_DEADBAND = 0.01;

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

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.OperatorConstants;
+import frc.robot.subsystems.Dump;
+
+public class DumpControl extends Command {
+
+  private static Dump DumpSubsystem;
+
+  private static Joystick Controller = new Joystick(OperatorConstants.COPILOT_CONTROLLER);
+
+  /** Creates a new PneumaticsControl. */
+  public DumpControl(Dump subsystem) {
+    DumpSubsystem = subsystem;
+    addRequirements(subsystem);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (Controller.getRawButton(1)) {
+      DumpSubsystem.open();
+    } else if (Controller.getRawButton(2)) {
+      DumpSubsystem.close();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can mhhhodify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.PneumaticsConstants;
+import frc.robot.Constants.PneumaticsConstants.DumpConstants;
+
+public class Dump extends SubsystemBase {
+
+  // The double solenoid that controls the piston
+  private DoubleSolenoid doubleSolenoid =
+      new DoubleSolenoid(
+          PneumaticsConstants.PneumaticsMoudleID,
+          PneumaticsModuleType.REVPH,
+          DumpConstants.IN,
+          DumpConstants.OUT);
+
+  /** Creates a new Pneumatics subsystem. */
+  public Dump() {
+    System.out.println("Pneumatics initialized");
+    SmartDashboard.putBoolean(getName(), false);
+  }
+
+  /** Opens the piston */
+  public void open() {
+    doubleSolenoid.set(DoubleSolenoid.Value.kForward);
+    SmartDashboard.putBoolean(getName(), true);
+  }
+
+  /** Closes the piston */
+  public void close() {
+    doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
+    SmartDashboard.putBoolean(getName(), false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}