From 9051daa46a46349175b2081b5c98d2f9fba29f42 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 13:52:41 -0800
Subject: [PATCH] Update PS5ControllerDriverConfig.java

---
 .../robot/controls/PS5ControllerDriverConfig.java | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 62dfb87..e48786a 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -82,11 +82,24 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
                     intake.spinStart();
                     intakeBoolean = false;
                 } else {
-                    intake.retract();
+                    intake.intermediateExtend();
                     intake.spinStop();
                     intakeBoolean = true;
                 }
             }));
+
+            // Retract if hold for 3 seconds
+            driver.get(PS5Button.CROSS).debounce(3.0).onTrue(new InstantCommand(()->{
+                intake.retract();
+                intakeBoolean = true;
+            }));
+        }
+
+        // Spindexer
+        if (spindexer != null){
+            // Will only run if we are not calling default shoot command
+            driver.get(PS5Button.LB).onTrue(new InstantCommand(()-> spindexer.maxSpindexer()))
+            .onFalse(new InstantCommand(()-> spindexer.stopSpindexer()));
         }
 
         // Auto shoot
-- 
2.39.5