Added ToggleHopperCommand.java, this is basically the same thing as HopperCommand.java, but well, it's a toggle version. Fixed Extend Retract thingy as well

Author: literal-gargoyle

src/main/java/frc/robot/Commands/ToggleHopperCommand.java

@@ -0,0 +1,42 @@
+package frc.robot.Commands;
+
+import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.config.HopperConfig;
+import frc.robot.subsystems.Hopper;
+
+@Logged
+public class ToggleHopperCommand extends Command {
+  private Hopper subsystem;
+  private boolean hasExtended = false;
+
+  public ToggleHopperCommand(Hopper subsystem) {
+    this.subsystem = subsystem;
+    addRequirements(subsystem);
+  }
+
+  @Override
+  public void initialize() {
+    if (hasExtended) {
+      // Retract
+      subsystem.move(HopperConfig.HOPPER_RETRACT_ROTATION);
+      System.out.println("Hopper: Retracting");
+      hasExtended = false;
+    } else {
+      // Extend
+      subsystem.move(HopperConfig.HOPPER_EXTEND_ROTATION);
+      System.out.println("Hopper: Extending");
+      hasExtended = true;
+    }
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    subsystem.stop();
+  }
+
+  @Override
+  public boolean isFinished() {
+    return subsystem.atPosition();
+  }
+}

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

@@ -41,13 +41,7 @@ private void configureBindings() {
     // X = intake toggle
     controller.x().toggleOnTrue(new IntakeCommand(intake, IntakeCommand.Position.INTAKE));
     // Right Stick Down = Extend/Retract Hopper
-    /*
-    controller.rightStick().onTrue(
-            new HopperCommand(hopper, HopperCommand.Position.EXTEND),
-            new HopperCommand(hopper, HopperCommand.Position.RETRACT),
-            () -> hopper.isExtended() // Fix this method later!!!
-    );
-    */
+    controller.rightStick().onTrue(new ToggleHopperCommand(hopper));
     // Right Trigger = Climb Extend
     controller.rightTrigger().toggleOnTrue(new ClimbCommand(climb, ClimbCommand.Position.CLIMB));
     // Left Trigger = Climb Extend