Intake System Assignment

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

@@ -1,63 +1,19 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
-import frc.robot.Constants.OperatorConstants;
-import frc.robot.commands.Autos;
-import frc.robot.commands.ExampleCommand;
-import frc.robot.subsystems.ExampleSubsystem;
-import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.IntakeMotor;
+import frc.robot.commands.IntakeMotorCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
 
-/**
- * This class is where the bulk of the robot should be declared. Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
- * subsystems, commands, and trigger mappings) should be declared here.
- */
 public class RobotContainer {
-  // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
-
-  // Replace with CommandPS4Controller or CommandJoystick if needed
-  private final CommandXboxController m_driverController =
-      new CommandXboxController(OperatorConstants.kDriverControllerPort);
-
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
-  public RobotContainer() {
-    // Configure the trigger bindings
-    configureBindings();
-  }
-
-  /**
-   * Use this method to define your trigger->command mappings. Triggers can be created via the
-   * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
-   * predicate, or via the named factories in {@link
-   * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
-   * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
-   * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
-   * joysticks}.
-   */
-  private void configureBindings() {
-    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-    new Trigger(m_exampleSubsystem::exampleCondition)
-        .onTrue(new ExampleCommand(m_exampleSubsystem));
+    private final IntakeMotor intakeMotor = new IntakeMotor();
+    private final IntakeMotorCommand intakeCommand = new IntakeMotorCommand(intakeMotor);
+    private final CommandXboxController controller = new CommandXboxController(0);
 
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
-    // cancelling on release.
-    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
-  }
+    public RobotContainer() {
+        configureBindings();
+    }
 
-  /**
-   * Use this to pass the autonomous command to the main {@link Robot} class.
-   *
-   * @return the command to run in autonomous
-   */
-  public Command getAutonomousCommand() {
-    // An example command will be run in autonomous
-    return Autos.exampleAuto(m_exampleSubsystem);
-  }
+    private void configureBindings() {
+        controller.a().whileTrue(intakeCommand);
+    }
 }

src/main/java/frc/robot/commands/IntakeMotorCommand.java

@@ -0,0 +1,31 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.IntakeMotor;
+
+public class IntakeMotorCommand extends CommandBase {
+    private final IntakeMotor intakeSubsystem;
+
+    public IntakeMotorCommand(IntakeMotor subsystem) {
+        intakeSubsystem = subsystem;
+        addRequirements(subsystem);
+    }
+
+    @Override
+    public void initialize() {}
+
+    @Override
+    public void execute() {
+        intakeSubsystem.setSpeed(0.35); 
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        intakeSubsystem.stop(); 
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false; 
+    }
+}

src/main/java/frc/robot/subsystems/intakemotor.java

@@ -0,0 +1,21 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+public class IntakeMotor extends SubsystemBase {
+    private final CANSparkMax motor;
+
+    public IntakeMotor() {
+        motor = new CANSparkMax(1, MotorType.kBrushless); // Replace 1 with your CAN ID
+    }
+
+    public void setSpeed(double speed) {
+        motor.set(speed);
+    }
+
+    public void stop() {
+        motor.set(0);
+    }
+}