make intake

src/main/java/org/wildstang/year2023/robot/WSOutputs.java

@@ -42,7 +42,7 @@ public enum WSOutputs implements Outputs {
     DRIVE4("Module 4 Drive Motor", new WsSparkMaxConfig(CANConstants.DRIVE4, true)),
     ANGLE4("Module 4 Angle Motor", new WsSparkMaxConfig(CANConstants.ANGLE4, true)),
 
-
+    INTAKE_MOTOR("Intake Motor", new WsSparkMaxConfig(CANConstants.INTAKE, true)),
     // ---------------------------------
     // Servos
     // ---------------------------------

src/main/java/org/wildstang/year2023/robot/WSSubsystems.java

@@ -4,6 +4,7 @@
 import org.wildstang.year2023.subsystems.SampleSubsystem;
 import org.wildstang.year2023.subsystems.swerve.SwerveDrive;
 import org.wildstang.year2023.subsystems.targeting.AimHelper;
+import org.wildstang.year2023.subsystems.intake.intake;
 
 /**
  * All subsystems are enumerated here.
@@ -13,6 +14,7 @@ public enum WSSubsystems implements Subsystems {
 
     // enumerate subsystems
     SWERVE_DRIVE("Swerve Drive", SwerveDrive.class),
+    INTAKE("Intake", intake.class),
     //AIM_HELPER("Aim Helper", AimHelper.class),
     //SAMPLE("Sample", SampleSubsystem.class)
     ;

src/main/java/org/wildstang/year2023/subsystems/intake/intake.java

@@ -0,0 +1,74 @@
+package org.wildstang.year2023.subsystems.intake;
+
+import org.wildstang.framework.core.Core;
+import org.wildstang.framework.io.inputs.DigitalInput;
+import org.wildstang.framework.io.inputs.AnalogInput;
+import org.wildstang.framework.io.inputs.Input;
+import org.wildstang.framework.subsystems.Subsystem;
+import org.wildstang.hardware.roborio.inputs.WsJoystickAxis;
+import org.wildstang.year2023.robot.WSInputs;
+
+import org.wildstang.framework.subsystems.Subsystem;
+
+import org.wildstang.hardware.roborio.outputs.WsSparkMax;
+import org.wildstang.year2023.robot.WSOutputs;
+
+/**
+ * Sample Subsystem that controls a motor with a joystick.
+ * @author Liam
+ */
+public class intake implements Subsystem {
+    // inputs
+
+    // outputs
+    private WsSparkMax intakeMotor;
+    private AnalogInput ingest, expel;
+
+
+    // states
+    private static final double ingestSpeed = 1;
+    private static final double expelSpeed = -1;
+    private static final double deadband = 0.05;
+
+    private double speed;
+    @Override
+    public void init() {
+
+        intakeMotor = (WsSparkMax) Core.getOutputManager().getOutput(WSOutputs.INTAKE_MOTOR);
+        ingest = (AnalogInput) Core.getInputManager().getInput(WSInputs.MANIPULATOR_LEFT_TRIGGER);
+        ingest.addInputListener(this);
+        expel = (AnalogInput) Core.getInputManager().getInput(WSInputs.MANIPULATOR_RIGHT_TRIGGER);
+        expel.addInputListener(this);
+        speed = 0;
+    }
+
+    @Override
+    public void resetState() {
+        speed = 0;
+    }
+
+    @Override
+    public void update() {
+        intakeMotor.setValue(speed);
+    }
+
+    @Override
+    public void inputUpdate(Input source) {
+        if (ingest.getValue()>deadband) {
+            speed = ingestSpeed*ingest.getValue();
+        } else if (expel.getValue()>deadband) {
+            speed = expelSpeed*expel.getValue();
+        } else {
+            speed = 0;
+        }
+    }
+
+    @Override
+    public String getName() {
+        return "Intake";
+    }
+
+    @Override
+    public void selfTest() {
+    }
+}