Create IntakeOrOuttakeConeOrCube.java

src/main/java/frc/robot/intake/commands/IntakeOrOuttakeConeOrCube.java

@@ -0,0 +1,34 @@
+package frc.robot.intake.commands;
+
+import edu.wpi.first.wpilibj2.command.ConditionalCommand;
+import frc.robot.helpers.ParentCommand;
+import frc.robot.intake.Intake;
+
+import java.util.function.BooleanSupplier;
+
+public class IntakeOrOuttakeConeOrCube extends ParentCommand{
+	private final Intake intakeSubsystem;
+	private final boolean isIntake;
+	private final BooleanSupplier isCone;
+
+	public IntakeOrOuttakeConeOrCube(Intake intakeSubsystem,boolean isIntake,BooleanSupplier isCone){
+		super();
+		this.intakeSubsystem=intakeSubsystem;
+		this.isIntake=isIntake;
+		this.isCone=isCone;
+		addRequirements(intakeSubsystem);
+	}
+
+	@Override
+	public void initialize(){
+		if(isIntake){
+			addChildCommands(
+					new ConditionalCommand(new IntakeCone(intakeSubsystem),new IntakeCube(intakeSubsystem),isCone));
+
+		}else{
+			addChildCommands(
+					new ConditionalCommand(new OuttakeCone(intakeSubsystem),new OuttakeCube(intakeSubsystem),isCone));
+		}
+		super.initialize();
+	}
+}