Receieve code

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

@@ -55,6 +55,7 @@ public static final class Shooter {
 
         public static final int speakerStrength = 15760;
         public static final int ampStrength = 2560;
+        public static final int receive = -100;
 
     }
 

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

@@ -1,7 +1,9 @@
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.commands.TeleopSwerve;
 import frc.robot.subsystems.*;
 import frc.robot.util.*;
@@ -22,6 +24,7 @@ public class RobotContainer {
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer() {
+        configureButtonBindings();
         SwerveSubsystem.setDefaultCommand(
                 new TeleopSwerve(
                         SwerveSubsystem,
@@ -44,6 +47,11 @@ public RobotContainer() {
                         () -> ShooterSubsystem.speakerShot(CONTROLLER.getXButton()),
                         ShooterSubsystem));
     }
+    private void configureButtonBindings() {
+        new JoystickButton(CONTROLLER, 4)
+        .whileTrue(
+            new RunCommand(() -> ShooterSubsystem.receive(true), ShooterSubsystem));
+    }
 
     public Command getAutonomousCommand() {
         return AutonomousManager.getCommand();

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

@@ -106,4 +106,23 @@ public void ampShot(boolean shoot) {
                     ControlType.kVelocity);
         }
     }
+        public void receive(boolean shoot) {
+        if (shoot) {
+            shooterPidController_1.setReference(
+                    Constants.Shooter.receive,
+                    ControlType.kVelocity);
+            shooterPidController_2.setReference(
+                    Constants.Shooter.receive,
+                    ControlType.kVelocity);
+        } else {
+            shooterPidController_1.setReference(
+                    0,
+                    ControlType.kVelocity);
+            shooterMotor_1.set(0);
+            shooterPidController_2.setReference(
+                    0,
+                    ControlType.kVelocity);
+            shooterMotor_2.set(0);
+        }
+    }
 }