Merge pull request #17 from frc937/intake

Intake

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

@@ -40,4 +40,16 @@ public static class Drive {
     /** The max speed the robot can rotate */
     public static double MAX_ANGULAR_SPEED = Math.PI / 2;
   }
+
+  public static class Intake {
+    /** Motor id of the Intake motor. */
+    public static final int INTAKE_MOTOR_ID = 0;
+
+    // It was me, DIO!
+    /** DIO Port ID for the Intake limit switch. */
+    public static final int INTAKE_LIMIT_SWITCH_DIO_PORT = 0;
+
+    /** Speed we want to run the Intake at. */
+    public static final double INTAKE_MOTOR_SPEED = 0.5;
+  }
 }

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

@@ -18,7 +18,9 @@
 import frc.robot.commands.DriveFieldOriented;
 import frc.robot.commands.DriveRobotOriented;
 import frc.robot.commands.EnterXMode;
+import frc.robot.commands.RunIntake;
 import frc.robot.subsystems.Drive;
+import frc.robot.subsystems.Intake;
 
 /** Singleton class that contains all the robot's subsystems, commands, and button bindings. */
 public class RobotContainer {
@@ -36,6 +38,8 @@ public class RobotContainer {
   /** Singleton instance of {@link Drive} */
   public static Drive drive = new Drive();
 
+  public static Intake intake = new Intake();
+
   /*
    * ************
    * * COMMANDS *
@@ -46,6 +50,7 @@ public class RobotContainer {
   private final DriveRobotOriented driveRobotOriented = new DriveRobotOriented();
   private final DriveFieldOriented driveFieldOriented = new DriveFieldOriented();
   private final EnterXMode enterXMode = new EnterXMode();
+  private final RunIntake runIntake = new RunIntake();
 
   /*
    * ***********************
@@ -71,6 +76,7 @@ private void configureBindings() {
     driverController.leftStick().toggleOnTrue(driveFieldOriented);
 
     driverController.x().onTrue(enterXMode);
+    driverController.a().onTrue(runIntake);
   }
 
   /**

src/main/java/frc/robot/commands/RunIntake.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.
+
+/*
+ * Asimov's Laws:
+ * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.
+ * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
+ * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
+ */
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.Intake;
+
+public class RunIntake extends Command {
+
+  private Intake intake;
+
+  /** Creates a new RunIntake. */
+  public RunIntake() {
+    this.intake = RobotContainer.intake;
+    addRequirements(intake);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    intake.runIntake();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    intake.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return intake.getLimitSwitch();
+  }
+}

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

@@ -0,0 +1,53 @@
+// 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.
+
+/*
+ * Asimov's Laws:
+ * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.
+ * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
+ * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
+ */
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+/** The intake of the robot. */
+public class Intake extends SubsystemBase {
+
+  private CANSparkMax intake;
+  private DigitalInput limitSwitch;
+
+  /** Creates a new Intake. */
+  public Intake() {
+    this.intake = new CANSparkMax(Constants.Intake.INTAKE_MOTOR_ID, MotorType.kBrushless);
+    this.limitSwitch = new DigitalInput(Constants.Intake.INTAKE_LIMIT_SWITCH_DIO_PORT);
+  }
+
+  /** Runs the intake motors. */
+  public void runIntake() {
+    intake.set(Constants.Intake.INTAKE_MOTOR_SPEED);
+  }
+
+  /**
+   * Returns a boolean value on whether or not the Limit Switch (for the intake) has been activated.
+   */
+  public boolean getLimitSwitch() {
+    return limitSwitch.get();
+  }
+
+  /** Stops the intake motors. */
+  public void stop() {
+    intake.set(0);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}