Intake Subsystem

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.3.1"
 }
 
 java {

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

@@ -5,11 +5,12 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.XboxController;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.Constants;
+import frc.robot.constants.Intake.IntakeSubsystem;
 
 
 /**
@@ -20,13 +21,14 @@
  */
 public class RobotContainer {
 
-    XboxController xboxController;
+    CommandXboxController xboxController;
+    private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer() {
-        xboxController = new XboxController(Constants.XBOX_CONTROLLER_PORT);
+        xboxController = new CommandXboxController(Constants.XBOX_CONTROLLER_PORT);
         configureBindings();
     }
 
@@ -41,9 +43,10 @@ public RobotContainer() {
      * joysticks}.
      */
     private void configureBindings() {
-
+        xboxController.a().onTrue(intakeSubsystem.spinIntake(true));
+        xboxController.b().onTrue(intakeSubsystem.spinIntake(false));
+        // if true, intakes note, if false spits the note out
     }
-
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.
      *

src/main/java/frc/robot/constants/Constants.java

@@ -15,4 +15,6 @@
  */
 public final class Constants {
     public static final int XBOX_CONTROLLER_PORT = 0;
+    public static final String  CANIVORE_BUS = "canivoreBus";
+    public static final String RIO_BUS = "rio";
 }

src/main/java/frc/robot/constants/Intake/IntakeConfigs.java

@@ -0,0 +1,24 @@
+package frc.robot.constants.Intake;
+
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.InvertedValue;
+
+
+
+
+public class IntakeConfigs {
+
+    public static final int INTAKE_MOTOR_ID = 8;
+    public static final int BEAMBREAK_ID = 2;
+    public static final int ROLLER_SPEED = 5;
+
+    public static MotorOutputConfigs motorOutputConfigs = new MotorOutputConfigs()
+            .withInverted(InvertedValue.Clockwise_Positive);
+
+
+    public static TalonFXConfiguration intakeMotorConfig = new TalonFXConfiguration()
+            .withMotorOutput(motorOutputConfigs);
+
+}

src/main/java/frc/robot/constants/Intake/IntakeSubsystem.java

@@ -0,0 +1,50 @@
+package frc.robot.constants.Intake;
+
+
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import static frc.robot.constants.Constants.CANIVORE_BUS;
+import static frc.robot.constants.Intake.IntakeConfigs.*;
+
+
+public class IntakeSubsystem extends SubsystemBase {
+    private final TalonFX intakeMotor = new TalonFX(INTAKE_MOTOR_ID, CANIVORE_BUS);
+    private final DigitalInput beamBreak = new DigitalInput(BEAMBREAK_ID);
+
+    public IntakeSubsystem(){
+        intakeMotor.getConfigurator().apply(intakeMotorConfig);
+    }
+
+    public void stopIntake(){
+        intakeMotor.stopMotor();
+    }
+
+    public boolean getBeamBreak(){
+        return !beamBreak.get();
+    }
+
+    public void runIntake(double speed){
+        intakeMotor.setControl(new VoltageOut(speed));
+    }
+
+    public Command in(){
+        return startEnd(()-> runIntake(ROLLER_SPEED), this::stopIntake).until(this::getBeamBreak);
+    }
+
+    public Command out(){
+        return startEnd(()-> runIntake(-ROLLER_SPEED), this::stopIntake).withTimeout(3);
+    }
+
+    public Command spinIntake(boolean reversed){
+        if (reversed == true){
+            return in();
+        }
+        else{
+            return out();
+        }
+    }
+}
+