src/main/java/frc/robot/RobotContainer.java
private void configureButtonBindings() {    

// Create some buttons

//new JoystickButton(xboxController0, Button.kRightBumper.value).whenPressed(new LauncherTestBoth(m_launcher,0.6, 0.1));
//new JoystickButton(xboxController0, Button.kLeftBumper.value).whenPressed(new LauncherTestBoth(m_launcher, 0, 0));


/*
new JoystickButton(xboxController0, Button.kLeftBumper.value).whileHeld(new RotateToTarget(m_limelight, m_swerveDrivetrain));
new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new HoodExtend(m_launcher));
new JoystickButton(xboxController1, Button.kLeftBumper.value).whenPressed(new HoodRetract(m_launcher));

*/


//intake extend/retract
//----------------DRIVER CONTROLS-----------------------------//

new JoystickButton(xboxController0, Button.kY.value).whenPressed(new LaunchHighGoalFender(m_hopper, m_launcher));
new JoystickButton(xboxController0, Button.kX.value).whenPressed(new SmartCollect(m_hopper, m_intake));
new JoystickButton(xboxController0, Button.kB.value).whenPressed(new LaunchLowGoal(m_hopper, m_launcher));
new JoystickButton(xboxController0, Button.kA.value).whenPressed(new SmartLaunchWithReverse(m_hopper, m_limelight, m_swerveDrivetrain, m_launcher));
new JoystickButton(xboxController0, Button.kRightBumper.value).whenPressed(new StopCollecting(m_hopper, m_intake));
new JoystickButton(xboxController0, Button.kLeftBumper.value).whenPressed(new EjectBall(m_hopper, m_intake));
//---Driver also controls drivetrain with left x&y joysticks and twist with triggers ----//
//----resets gyro with Left Bumper ------------------------------//



//-------------------OPERATOR CONTROLS-----------------------------//

new JoystickButton(xboxController1, Button.kX.value).whenPressed(new RaiseIntake(m_intake)); 
/*new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new IntakeSpin(m_intake, 0.25)); //<--- maybe
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new LowerIntake(m_intake));
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new SmartRotateToTarget(m_hopper, m_launcher, 0.3, 0.4, m_limelight, m_swerveDrivetrain));
new JoystickButton(xboxController1, Button.kY.value).whenPressed(new turnOffLEDs(m_limelight));
*/
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new ClimbEnableSoftLimits(m_climber));
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new ClimbDisableSoftLimits(m_climber));
new JoystickButton(xboxController1, Button.kY.value).whenPressed(new ClimbReset(m_climber));
//---OPerator Also controls climber with left and right y- Joysticks -----//


//new JoystickButton(xboxController1, Button.kX.value).whenPressed(new LowerIntake(m_intake));

//new JoystickButton(xboxController0, Button.kB.value).whenPressed(new HoodRetract(m_launcher));
//new JoystickButton(xboxController0, Button.kY.value).whenPressed(new HoodExtend(m_launcher));
//new JoystickButton(xboxController0, Button.kLeftBumper.value).whenPressed(new ClimbBoth(m_climber, 0.25));
//new JoystickButton(xboxController0, Button.kB.value).whenPressed(new ClimbBoth(m_climber,0));
//new JoystickButton(xboxController0, Button.kRightBumper.value).whenPressed(new ClimbBoth(m_climber,-.25));


/*new JoystickButton(xboxController1, Button.kX.value).whenPressed(new HopperASetPower(m_hopper, 0.25));
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new HopperBSetPower(m_hopper, 0.25));

new JoystickButton(xboxController1, Button.kY.value).whenPressed(new HopperASetPower(m_hopper, 0));
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new HopperBSetPower(m_hopper, 0));
*/




//new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new IntakeSpin(m_intake, -0.5));



  }
/**
   * Use this method to define your button->command mappings.  Buttons can be created by
   * instantiating a {@link GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
Use this method to define your button->command mappings.  Buttons can be created by
instantiating a  GenericHID or one of its subclasses ({@link
edu.wpi.first.wpilibj.Joystick} or  XboxController), and then passing it to a
edu.wpi.first.wpilibj2.command.button.JoystickButton.
Use this method to define your button - > command mappings . Buttons can be created by instantiating a GenericHID or one of its subclasses ( { @link edu . wpi . first . wpilibj . Joystick } or XboxController ) and then passing it to a edu . wpi . first . wpilibj2 . command . button . JoystickButton .
private void configureButtonBindings() {    
/*
new JoystickButton(xboxController0, Button.kLeftBumper.value).whileHeld(new RotateToTarget(m_limelight, m_swerveDrivetrain));
new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new HoodExtend(m_launcher));
new JoystickButton(xboxController1, Button.kLeftBumper.value).whenPressed(new HoodRetract(m_launcher));
*/
new JoystickButton(xboxController0, Button.kY.value).whenPressed(new LaunchHighGoalFender(m_hopper, m_launcher));
new JoystickButton(xboxController0, Button.kX.value).whenPressed(new SmartCollect(m_hopper, m_intake));
new JoystickButton(xboxController0, Button.kB.value).whenPressed(new LaunchLowGoal(m_hopper, m_launcher));
new JoystickButton(xboxController0, Button.kA.value).whenPressed(new SmartLaunchWithReverse(m_hopper, m_limelight, m_swerveDrivetrain, m_launcher));
new JoystickButton(xboxController0, Button.kRightBumper.value).whenPressed(new StopCollecting(m_hopper, m_intake));
new JoystickButton(xboxController0, Button.kLeftBumper.value).whenPressed(new EjectBall(m_hopper, m_intake));
new JoystickButton(xboxController1, Button.kX.value).whenPressed(new RaiseIntake(m_intake)); 
/*new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new IntakeSpin(m_intake, 0.25)); //<--- maybe
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new LowerIntake(m_intake));
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new SmartRotateToTarget(m_hopper, m_launcher, 0.3, 0.4, m_limelight, m_swerveDrivetrain));
new JoystickButton(xboxController1, Button.kY.value).whenPressed(new turnOffLEDs(m_limelight));
*/
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new ClimbEnableSoftLimits(m_climber));
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new ClimbDisableSoftLimits(m_climber));
new JoystickButton(xboxController1, Button.kY.value).whenPressed(new ClimbReset(m_climber));
/*new JoystickButton(xboxController1, Button.kX.value).whenPressed(new HopperASetPower(m_hopper, 0.25));
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new HopperBSetPower(m_hopper, 0.25));
new JoystickButton(xboxController1, Button.kY.value).whenPressed(new HopperASetPower(m_hopper, 0));
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new HopperBSetPower(m_hopper, 0));
*/
  }
private void configureButtonBindings ( ) { /*
new JoystickButton(xboxController0, Button.kLeftBumper.value).whileHeld(new RotateToTarget(m_limelight, m_swerveDrivetrain));
new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new HoodExtend(m_launcher));
new JoystickButton(xboxController1, Button.kLeftBumper.value).whenPressed(new HoodRetract(m_launcher));

*/ new JoystickButton ( xboxController0 , Button . kY . value ) . whenPressed ( new LaunchHighGoalFender ( m_hopper , m_launcher ) ) ; new JoystickButton ( xboxController0 , Button . kX . value ) . whenPressed ( new SmartCollect ( m_hopper , m_intake ) ) ; new JoystickButton ( xboxController0 , Button . kB . value ) . whenPressed ( new LaunchLowGoal ( m_hopper , m_launcher ) ) ; new JoystickButton ( xboxController0 , Button . kA . value ) . whenPressed ( new SmartLaunchWithReverse ( m_hopper , m_limelight , m_swerveDrivetrain , m_launcher ) ) ; new JoystickButton ( xboxController0 , Button . kRightBumper . value ) . whenPressed ( new StopCollecting ( m_hopper , m_intake ) ) ; new JoystickButton ( xboxController0 , Button . kLeftBumper . value ) . whenPressed ( new EjectBall ( m_hopper , m_intake ) ) ; new JoystickButton ( xboxController1 , Button . kX . value ) . whenPressed ( new RaiseIntake ( m_intake ) ) ; /*new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new IntakeSpin(m_intake, 0.25)); //<--- maybe
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new LowerIntake(m_intake));
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new SmartRotateToTarget(m_hopper, m_launcher, 0.3, 0.4, m_limelight, m_swerveDrivetrain));
new JoystickButton(xboxController1, Button.kY.value).whenPressed(new turnOffLEDs(m_limelight));
*/ new JoystickButton ( xboxController1 , Button . kA . value ) . whenPressed ( new ClimbEnableSoftLimits ( m_climber ) ) ; new JoystickButton ( xboxController1 , Button . kB . value ) . whenPressed ( new ClimbDisableSoftLimits ( m_climber ) ) ; new JoystickButton ( xboxController1 , Button . kY . value ) . whenPressed ( new ClimbReset ( m_climber ) ) ; /*new JoystickButton(xboxController1, Button.kX.value).whenPressed(new HopperASetPower(m_hopper, 0.25));
new JoystickButton(xboxController1, Button.kA.value).whenPressed(new HopperBSetPower(m_hopper, 0.25));

new JoystickButton(xboxController1, Button.kY.value).whenPressed(new HopperASetPower(m_hopper, 0));
new JoystickButton(xboxController1, Button.kB.value).whenPressed(new HopperBSetPower(m_hopper, 0));
*/ }
Use this method to define your button->command mappings.
Use this method to define your button - > command mappings .
// Create some buttons //new JoystickButton(xboxController0, Button.kRightBumper.value).whenPressed(new LauncherTestBoth(m_launcher,0.6, 0.1)); //new JoystickButton(xboxController0, Button.kLeftBumper.value).whenPressed(new LauncherTestBoth(m_launcher, 0, 0)); //intake extend/retract //----------------DRIVER CONTROLS-----------------------------// //---Driver also controls drivetrain with left x&y joysticks and twist with triggers ----// //----resets gyro with Left Bumper ------------------------------// //-------------------OPERATOR CONTROLS-----------------------------// //---OPerator Also controls climber with left and right y- Joysticks -----// //new JoystickButton(xboxController1, Button.kX.value).whenPressed(new LowerIntake(m_intake)); //new JoystickButton(xboxController0, Button.kB.value).whenPressed(new HoodRetract(m_launcher)); //new JoystickButton(xboxController0, Button.kY.value).whenPressed(new HoodExtend(m_launcher)); //new JoystickButton(xboxController0, Button.kLeftBumper.value).whenPressed(new ClimbBoth(m_climber, 0.25)); //new JoystickButton(xboxController0, Button.kB.value).whenPressed(new ClimbBoth(m_climber,0)); //new JoystickButton(xboxController0, Button.kRightBumper.value).whenPressed(new ClimbBoth(m_climber,-.25)); //new JoystickButton(xboxController1, Button.kRightBumper.value).whenPressed(new IntakeSpin(m_intake, -0.5));