Intake subsystem + commands for rotating intake wheels

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

@@ -6,13 +6,22 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.Intake.IntakeIn;
+import frc.robot.subsystems.Intake.Intake;
 
 public class RobotContainer {
+  private final Intake intake;
+  private final CommandXboxController driverController;
   public RobotContainer() {
+    intake = new Intake();
+    driverController = new CommandXboxController(0);
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    driverController.b().whileTrue(new IntakeIn(intake, 0.1));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

src/main/java/frc/robot/commands/Intake/IntakeIn.java

@@ -0,0 +1,51 @@
+// 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.commands.Intake;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Intake.Intake;
+
+public class IntakeIn extends Command {
+  /** Creates a new IntakeIn. */
+  private final Intake c_intake;
+  private final double c_intakeVoltage;
+
+  public IntakeIn(Intake intake, double intakeVoltage) {
+    c_intake = intake;
+    c_intakeVoltage = intakeVoltage;
+
+    addRequirements(c_intake);
+      // use addRequirements( here to declare subsystem dependentc
+
+  }
+
+
+
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    c_intake.rotateIntakeWheels(c_intakeVoltage);
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    c_intake.rotateIntakeWheels(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/Intake/RotateArm.java

@@ -0,0 +1,44 @@
+// 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.commands.Intake;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Intake.Intake;
+
+public class RotateArm extends Command {
+  /** Creates a new RotateArm. */
+  private final Intake c_intake;
+  private final double c_angle;
+
+  public RotateArm(Intake intake, Double intakeAngle) {
+    c_intake = intake;
+    c_angle = intakeAngle;
+
+    addRequirements(c_intake);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    c_intake.rotateArm(c_angle);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    c_intake.rotateArm(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,49 @@
+// 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.subsystems.Intake;
+
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.controls.PositionDutyCycle;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Intake extends SubsystemBase {
+  private final TalonFX intakeWheel;
+  private final TalonFX intakeRotation;
+  private final TalonFX armRotation;
+  private final DutyCycleEncoder intakeRotationEncoder;
+  private final DutyCycleEncoder armRotationEncoder;
+
+  /** Creates a new Intake. */
+  public Intake() {
+    intakeWheel = new TalonFX(0);
+    intakeRotation = new TalonFX(0);
+    armRotation = new TalonFX(0);
+    intakeRotationEncoder = new DutyCycleEncoder(0);
+    armRotationEncoder = new DutyCycleEncoder(0);
+
+  }
+
+  public void rotateIntakeWheels(double c_intakeVoltage) {
+    DutyCycleOut power = new DutyCycleOut(0);
+    intakeWheel.setControl(power.withOutput(c_intakeVoltage));
+  }
+
+  public void rotateArm(double c_angle) {
+    PositionDutyCycle power = new PositionDutyCycle(0);
+    intakeWheel.setControl(power.withPosition(c_angle));
+  }
+
+  public double getIntakeRotationEncoderPosition() {
+    return intakeRotationEncoder.getAbsolutePosition();
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}