Merge branch 'beta-bot' into beta-bot-pull-request

diff --cc src/main/java/frc/robot/RobotContainer.java
index b9478b69a69a06cf518af61d0d4d06256b01a250,0c8b25d71b910c6d842bf5e61aeee19c9ef38153..efcd7c24ac97faadb0c11396659fa5f761f2ed23
--- 1/src/main/java/frc/robot/RobotContainer.java
--- 2/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@@ -26,9 -24,14 +24,13 @@@ import frc.robot.constants.VisionConsta
  import frc.robot.controls.BaseDriverConfig;
  import frc.robot.controls.Operator;
  import frc.robot.controls.PS5ControllerDriverConfig;
 -import frc.robot.subsystems.climb.Climb;
 +import frc.robot.subsystems.Intake.Intake;
  import frc.robot.subsystems.drivetrain.Drivetrain;
  import frc.robot.subsystems.drivetrain.GyroIOPigeon2;
 -import frc.robot.subsystems.intake.Intake;
+ import frc.robot.subsystems.shooter.Shooter;
+ import frc.robot.subsystems.spindexer.Spindexer;
+ import frc.robot.subsystems.turret.Turret;
+ import frc.robot.subsystems.hood.Hood;
  import frc.robot.util.PathGroupLoader;
  import frc.robot.util.Vision.DetectedObject;
  import frc.robot.util.Vision.Vision;
@@@ -46,9 -49,15 +48,15 @@@ public class RobotContainer 
    // The robot's subsystems are defined here...
    private Drivetrain drive = null;
    private Vision vision = null;
 -  private Climb climb = null;
 -  private Intake intake = null;
+   private Turret turret = null;
+   private Shooter shooter = null;
+   private Hood hood = null;
+   private Spindexer spindexer = null;
++  private Intake intake = null;
+ 
    private Command auto = new DoNothing();
  
 +
    // Controllers are defined here
    private BaseDriverConfig driver = null;
    private Operator operator = null;
@@@ -80,8 -79,16 +78,15 @@@
  
        default:
  
-       case WaffleHouse:
-       
+       case PrimeJr: // AKA Valence
 -        intake = new Intake();
 -        climb = new Climb();
+         spindexer = new Spindexer();
++        intake = new Intake();
+ 
+       case WaffleHouse: // AKA Betabot
+         turret = new Turret();
+         shooter = new Shooter();
 -        //hood = new Hood();
++        hood = new Hood();
+ 
        case SwerveCompetition: // AKA "Vantage"
  
        case BetaBot: // AKA "Pancake"
@@@ -92,15 -99,10 +97,12 @@@
  
        case Phil: // AKA "IHOP"
  
-       case PrimeJr:
-         intake = new Intake();
- 
        case Vertigo: // AKA "French Toast"
          drive = new Drivetrain(vision, new GyroIOPigeon2());
-         driver = new PS5ControllerDriverConfig(drive);
+         driver = new PS5ControllerDriverConfig(drive, shooter, turret, hood, intake, spindexer);
          operator = new Operator(drive);
 +        // added indexer here for now
 +        
  
          // Detected objects need access to the drivetrain
          DetectedObject.setDrive(drive);

diff --cc src/main/java/frc/robot/constants/Constants.java
index 2cf72f11ef5d2609fbbd22e7d98459668288a433,f07a80043ea9c94d0f18d336c4882c1175698705..3b87c7e926144eac216f51a2e39a44fd1b8636d0
--- 1/src/main/java/frc/robot/constants/Constants.java
--- 2/src/main/java/frc/robot/constants/Constants.java
+++ b/src/main/java/frc/robot/constants/Constants.java
@@@ -14,8 -14,8 +14,9 @@@ public class Constants 
  
      // CAN bus names
      public static final CANBus CANIVORE_CAN = new CANBus("CANivore");
 +    public static final CANBus CANIVORE_SUB = new CANBus("CANivoreSub");
      public static final CANBus RIO_CAN = new CANBus("rio");
+     public static final CANBus SUBSYSTEM_CANIVORE_CAN = new CANBus("CANivoreSub");
  
      // Logging 
      public static final boolean USE_TELEMETRY = true;