Intake-Subsystem

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

@@ -7,12 +7,14 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.Transporter.Transporter;
 
-
 public class RobotContainer {
+    public static final Intake INTAKE = new Intake();
     public static final Transporter TRANSPORTER = new Transporter();
 
+
     public RobotContainer() {
         configureBindings();
     }

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

@@ -0,0 +1,17 @@
+package frc.robot.subsystems.Intake;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Intake extends SubsystemBase {
+    private final TalonSRX intakeMotor = IntakeConstants.MOTOR;
+
+    void stopMotor() {
+        setTargetDutyCycleOutput(0);
+    }
+
+    void setTargetDutyCycleOutput(double motorOutput) {
+        intakeMotor.set(ControlMode.PercentOutput, motorOutput);
+    }
+}

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

@@ -0,0 +1,19 @@
+package frc.robot.subsystems.Intake;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import frc.robot.RobotContainer;
+
+public class IntakeCommands {
+    public static Command getSetTargetStateCommand(IntakeConstants.IntakeState targetState) {
+        return getSetMotorOutputCommand(targetState.targetMotorOutput);
+    }
+
+    private static Command getSetMotorOutputCommand(double motorOutput) {
+        return new StartEndCommand(
+                () -> RobotContainer.INTAKE.setTargetDutyCycleOutput(motorOutput),
+                RobotContainer.INTAKE::stopMotor,
+                RobotContainer.INTAKE
+        );
+    }
+}

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

@@ -0,0 +1,40 @@
+package frc.robot.subsystems.Intake;
+
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+public class IntakeConstants {
+    private static final int MOTOR_ID = 5;
+
+    static final WPI_TalonSRX MOTOR = new WPI_TalonSRX(MOTOR_ID);
+
+    private static final NeutralMode NEUTRAL_MODE = NeutralMode.Brake;
+    private static final InvertType INVERTED_VALUE = InvertType.None;
+    private static final double VOLTAGE_COMPENSATION_VALUE = 12;
+
+    static {
+        configureMotor();
+    }
+
+    private static void configureMotor() {
+        MOTOR.configFactoryDefault();
+
+        MOTOR.setNeutralMode(NEUTRAL_MODE);
+        MOTOR.setInverted(INVERTED_VALUE);
+        MOTOR.enableVoltageCompensation(true);
+        MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_VALUE);
+    }
+
+    public enum IntakeState {
+        COLLECT(0.5),
+        EJECT(-0.5),
+        REST(0);
+
+        final double targetMotorOutput;
+
+        IntakeState(double Output) {
+            this.targetMotorOutput = Output;
+        }
+    }
+}

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

@@ -16,5 +16,4 @@ void setTargetPercentageVoltageOutput(double percentageMotorOutput) {
         rightMotor.set(ControlMode.PercentOutput, percentageMotorOutput);
         leftMotor.set(ControlMode.PercentOutput, percentageMotorOutput);
     }
-}
-
+}