From 6cab957e6b9f4c558fad24def50385c0e57f1bb8 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 15:13:38 -0600
Subject: [PATCH 01/24] Added Intake.java

---
 src/main/java/frc/robot/subsystems/Intake.java | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/Intake.java

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
new file mode 100644
index 00000000..1a90fcc3
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -0,0 +1,17 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Intake extends SubsystemBase {
+  /** Creates a new Intake. */
+  public Intake() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

From d0f8315a49268712b1419d5689d38a67627cb860 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:10:17 -0600
Subject: [PATCH 02/24] Added intake motor object

---
 src/main/java/frc/robot/subsystems/Intake.java | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 1a90fcc3..a96b7c6a 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -5,10 +5,16 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 
 public class Intake extends SubsystemBase {
+
+  private Spark intake;
+
   /** Creates a new Intake. */
-  public Intake() {}
+  public Intake() {
+    
+  }
 
   @Override
   public void periodic() {

From aa5e4189ddca8f038bbae1d7585006c8ba9b118f Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:18:47 -0600
Subject: [PATCH 03/24] Added intake motor id constant

Added INTAKE_MOTOR_ID with a temp value of 0.
---
 src/main/java/frc/robot/Constants.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 2337681c..d00bb93b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -23,4 +23,8 @@ public final class Constants {
   public static class Controllers {
     public static final int DRIVER_CONTROLLER_PORT = 0;
   }
+
+  public static class Intake {
+    public static final int INTAKE_MOTOR_ID = 0;
+  }
 }

From 2db315e6047b8be59af9a22ae0a672ba9a1bd7cf Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:21:23 -0600
Subject: [PATCH 04/24] Assigned intake object motor id

Assigned intake object motor id from constants
---
 src/main/java/frc/robot/subsystems/Intake.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index a96b7c6a..7b1caba1 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import frc.robot.Constants;
 
 public class Intake extends SubsystemBase {
 
@@ -13,7 +14,7 @@ public class Intake extends SubsystemBase {
 
   /** Creates a new Intake. */
   public Intake() {
-    
+    this.intake = new Spark(Constants.Intake.INTAKE_MOTOR_ID);
   }
 
   @Override

From 88698a04bf0d3674649befeb16e4144012744fb6 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:22:26 -0600
Subject: [PATCH 05/24] Added intake motor speed constant

Added INTAKE_MOTOR_SPEED with a temp value of 0.5
---
 src/main/java/frc/robot/Constants.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index d00bb93b..1effbd94 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -26,5 +26,6 @@ public static class Controllers {
 
   public static class Intake {
     public static final int INTAKE_MOTOR_ID = 0;
+    public static final double INTAKE_MOTOR_SPEED = 0.5;
   }
 }

From c8dd94a544380e442616469ddac522d9c38444a6 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:25:19 -0600
Subject: [PATCH 06/24] Added method to run intake

Added RunIntake() method and its contents run the motor
---
 src/main/java/frc/robot/subsystems/Intake.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 7b1caba1..c6cdf9c5 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -17,6 +17,10 @@ public Intake() {
     this.intake = new Spark(Constants.Intake.INTAKE_MOTOR_ID);
   }
 
+  public void RunIntake() {
+    intake.set(Constants.Intake.INTAKE_MOTOR_SPEED);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 9042d15267399fba7c47e3cfb93dfacc4bcd2eae Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:27:14 -0600
Subject: [PATCH 07/24] Added intake stop method

---
 src/main/java/frc/robot/subsystems/Intake.java | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index c6cdf9c5..1bdd51da 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -17,10 +17,14 @@ public Intake() {
     this.intake = new Spark(Constants.Intake.INTAKE_MOTOR_ID);
   }
 
-  public void RunIntake() {
+  public void runIntake() {
     intake.set(Constants.Intake.INTAKE_MOTOR_SPEED);
   }
 
+  public void stop() {
+    intake.set(0);
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 6e197856f3189131228814bb50bf4a0b54a226ad Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:28:42 -0600
Subject: [PATCH 08/24] Added javadoc

---
 src/main/java/frc/robot/Constants.java         | 2 ++
 src/main/java/frc/robot/subsystems/Intake.java | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1effbd94..e8acc84b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -25,7 +25,9 @@ public static class Controllers {
   }
 
   public static class Intake {
+    /** Motor id of the Intake motor. */
     public static final int INTAKE_MOTOR_ID = 0;
+    /** Speed we want to run the Intake at. */
     public static final double INTAKE_MOTOR_SPEED = 0.5;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 1bdd51da..1fdabf36 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -8,6 +8,9 @@
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import frc.robot.Constants;
 
+/**
+ * The intake of the robot.
+ */
 public class Intake extends SubsystemBase {
 
   private Spark intake;
@@ -17,10 +20,12 @@ public Intake() {
     this.intake = new Spark(Constants.Intake.INTAKE_MOTOR_ID);
   }
 
+  /** Runs the intake motors. */
   public void runIntake() {
     intake.set(Constants.Intake.INTAKE_MOTOR_SPEED);
   }
 
+  /** Stops the intake motors. */
   public void stop() {
     intake.set(0);
   }

From 7ce11ec35949ccb57e393c4c8d65e5406946b852 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:30:32 -0600
Subject: [PATCH 09/24] Added RunIntake command

---
 .../java/frc/robot/commands/RunIntake.java    | 33 +++++++++++++++++++
 1 file changed, 33 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/RunIntake.java

diff --git a/src/main/java/frc/robot/commands/RunIntake.java b/src/main/java/frc/robot/commands/RunIntake.java
new file mode 100644
index 00000000..7263290c
--- /dev/null
+++ b/src/main/java/frc/robot/commands/RunIntake.java
@@ -0,0 +1,33 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Intake;
+
+public class RunIntake extends Command {
+  /** Creates a new RunIntake. */
+  public RunIntake() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From 74ae6de95b6dfb5514a009805b86e2309cd0274e Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:33:06 -0600
Subject: [PATCH 10/24] Added Intake to RobotContainer

---
 src/main/java/frc/robot/RobotContainer.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a8c689dc..aecb3159 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,6 +19,7 @@
 import frc.robot.commands.DriveRobotOriented;
 import frc.robot.commands.EnterXMode;
 import frc.robot.subsystems.Drive;
+import frc.robot.subsystems.Intake;
 
 public class RobotContainer {
 
@@ -33,6 +34,7 @@ public class RobotContainer {
    * awful.
    */
   public static Drive drive = new Drive();
+  public static Intake intake = new Intake();
 
   /*
    * ************

From dab2a864a48dfea65162f84b51e5f6b29c450970 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:34:20 -0600
Subject: [PATCH 11/24] Defined intake object

---
 src/main/java/frc/robot/commands/RunIntake.java | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/RunIntake.java b/src/main/java/frc/robot/commands/RunIntake.java
index 7263290c..aae8927b 100644
--- a/src/main/java/frc/robot/commands/RunIntake.java
+++ b/src/main/java/frc/robot/commands/RunIntake.java
@@ -6,11 +6,15 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Intake;
+import frc.robot.RobotContainer;
 
 public class RunIntake extends Command {
+
+  private Intake intake;
+
   /** Creates a new RunIntake. */
   public RunIntake() {
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.intake = RobotContainer.intake;
   }
 
   // Called when the command is initially scheduled.

From ff2e12c078c2abd06e948523c3168162d06c28f7 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:36:05 -0600
Subject: [PATCH 12/24] Intake command stops and starts

Added intake.runIntake() and intake.stop() to their respective methods.
---
 src/main/java/frc/robot/commands/RunIntake.java | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/RunIntake.java b/src/main/java/frc/robot/commands/RunIntake.java
index aae8927b..bb322f8b 100644
--- a/src/main/java/frc/robot/commands/RunIntake.java
+++ b/src/main/java/frc/robot/commands/RunIntake.java
@@ -19,7 +19,9 @@ public RunIntake() {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    intake.runIntake();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -27,7 +29,9 @@ public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    intake.stop();
+  }
 
   // Returns true when the command should end.
   @Override

From 0d6e9cdeda424a4cc097332f86aa4cd44cdf86ee Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:38:21 -0600
Subject: [PATCH 13/24] Bound button A to runIntake().

---
 src/main/java/frc/robot/RobotContainer.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index aecb3159..95fae90a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -18,6 +18,7 @@
 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;
 
@@ -46,6 +47,7 @@ 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();
 
   /*
    * ***********************
@@ -69,6 +71,7 @@ private void configureBindings() {
     driverController.leftStick().toggleOnTrue(driveFieldOriented);
 
     driverController.x().onTrue(enterXMode);
+    driverController.a().onTrue(runIntake);
   }
 
   public Command getAutonomousCommand() {

From a5442a3279c28335fe1e75dc086eb87d83331107 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 23 Jan 2024 16:45:40 -0600
Subject: [PATCH 14/24] Applied spotless

---
 src/main/java/frc/robot/Constants.java          |  1 +
 src/main/java/frc/robot/commands/RunIntake.java |  9 ++++++++-
 src/main/java/frc/robot/subsystems/Intake.java  | 13 +++++++++----
 3 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index e8acc84b..f82d44f6 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -27,6 +27,7 @@ public static class Controllers {
   public static class Intake {
     /** Motor id of the Intake motor. */
     public static final int INTAKE_MOTOR_ID = 0;
+
     /** Speed we want to run the Intake at. */
     public static final double INTAKE_MOTOR_SPEED = 0.5;
   }
diff --git a/src/main/java/frc/robot/commands/RunIntake.java b/src/main/java/frc/robot/commands/RunIntake.java
index bb322f8b..435e4190 100644
--- a/src/main/java/frc/robot/commands/RunIntake.java
+++ b/src/main/java/frc/robot/commands/RunIntake.java
@@ -2,11 +2,18 @@
 // 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.subsystems.Intake;
 import frc.robot.RobotContainer;
+import frc.robot.subsystems.Intake;
 
 public class RunIntake extends Command {
 
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 1fdabf36..b1f219ed 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -2,15 +2,20 @@
 // 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
-/**
- * The intake of the robot.
- */
+/** The intake of the robot. */
 public class Intake extends SubsystemBase {
 
   private Spark intake;

From 02e9acd67f7fbafedb48c676d6ff276b7f9c08c8 Mon Sep 17 00:00:00 2001
From: QuackitsQuinn <quinnweismiller@gmail.com>
Date: Tue, 23 Jan 2024 17:06:21 -0600
Subject: [PATCH 15/24] fix missing curly bracket

---
 src/main/java/frc/robot/Constants.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 38e23153..fa184e9b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -35,6 +35,7 @@ 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. */
@@ -42,6 +43,5 @@ public static class Intake {
 
     /** Speed we want to run the Intake at. */
     public static final double INTAKE_MOTOR_SPEED = 0.5;
-    
   }
 }

From b3be0dcc19f049f6924abe7548e378d7c0b4a4d9 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 17:54:48 -0600
Subject: [PATCH 16/24] Added Intake Limit Switch Port Constant

Added INTAKE_LIMIT_SWITCH_DIO_PORT to constants.
---
 src/main/java/frc/robot/Constants.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index fa184e9b..bceeaf2f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -40,6 +40,9 @@ public static class Drive {
   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;

From 29331a96891f3ae54a49789552e789aff6143fdd Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 18:04:48 -0600
Subject: [PATCH 17/24] Added limitSwitch object

Added limitSwitch object to Intake
---
 src/main/java/frc/robot/subsystems/Intake.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index b1f219ed..3326bf3e 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -11,6 +11,7 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -19,10 +20,12 @@
 public class Intake extends SubsystemBase {
 
   private Spark intake;
+  private DigitalInput limitSwitch;
 
   /** Creates a new Intake. */
   public Intake() {
     this.intake = new Spark(Constants.Intake.INTAKE_MOTOR_ID);
+    this.limitSwitch = new DigitalInput(Constants.Intake.INTAKE_LIMIT_SWITCH_DIO_PORT);
   }
 
   /** Runs the intake motors. */

From ed2105c2b95e09f69ffafe01e915eee4d305d76c Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 18:17:22 -0600
Subject: [PATCH 18/24] Added a getter method for the Intake Limit Switch

Added getIntakeLimitSwitch() which returns the value of the limit switch for intake.
---
 src/main/java/frc/robot/subsystems/Intake.java | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 3326bf3e..a3657d25 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -33,6 +33,11 @@ public void runIntake() {
     intake.set(Constants.Intake.INTAKE_MOTOR_SPEED);
   }
 
+  /** Returns a boolean value on whether or not the Limit Switch has been activated. */
+  public boolean getIntakeLimitSwitch() {
+    return limitSwitch.get();
+  }
+
   /** Stops the intake motors. */
   public void stop() {
     intake.set(0);

From a3393ff8177145b885eb6293e7b2ab94e1b64bae Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 18:19:10 -0600
Subject: [PATCH 19/24] Renamed method

From getIntakeLimitSwitch() to getLimitSwitch()
---
 src/main/java/frc/robot/subsystems/Intake.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index a3657d25..1ab0bcdb 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -33,8 +33,8 @@ public void runIntake() {
     intake.set(Constants.Intake.INTAKE_MOTOR_SPEED);
   }
 
-  /** Returns a boolean value on whether or not the Limit Switch has been activated. */
-  public boolean getIntakeLimitSwitch() {
+  /** Returns a boolean value on whether or not the Limit Switch (for the intake) has been activated. */
+  public boolean getLimitSwitch() {
     return limitSwitch.get();
   }
 

From 329f0fb4e665e3a5aac0dfd6e5862d702c65ff12 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 18:20:21 -0600
Subject: [PATCH 20/24] RunIntake finishes via limit switch

RunIntake isFinished() returns the value of the intake's limit switch
---
 src/main/java/frc/robot/commands/RunIntake.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/RunIntake.java b/src/main/java/frc/robot/commands/RunIntake.java
index 435e4190..e0159571 100644
--- a/src/main/java/frc/robot/commands/RunIntake.java
+++ b/src/main/java/frc/robot/commands/RunIntake.java
@@ -43,6 +43,6 @@ public void end(boolean interrupted) {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return intake.getLimitSwitch();
   }
 }

From 165e832086054bdb205c7db972c264692619e3f8 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 18:26:55 -0600
Subject: [PATCH 21/24] Made the motor brushless in code

Changed it from a Spark object to a CANSparkMax object.
---
 src/main/java/frc/robot/subsystems/Intake.java | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 1ab0bcdb..84be2a31 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -11,6 +11,9 @@
 
 package frc.robot.subsystems;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -19,12 +22,12 @@
 /** The intake of the robot. */
 public class Intake extends SubsystemBase {
 
-  private Spark intake;
+  private CANSparkMax intake;
   private DigitalInput limitSwitch;
 
   /** Creates a new Intake. */
   public Intake() {
-    this.intake = new Spark(Constants.Intake.INTAKE_MOTOR_ID);
+    this.intake = new CANSparkMax(Constants.Intake.INTAKE_MOTOR_ID, MotorType.kBrushless);
     this.limitSwitch = new DigitalInput(Constants.Intake.INTAKE_LIMIT_SWITCH_DIO_PORT);
   }
 

From 65962b762ec9a2f75c0e44ceb3f4ed946dcac119 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 18:29:13 -0600
Subject: [PATCH 22/24] Applied spotless

:'(
---
 src/main/java/frc/robot/Constants.java         | 1 +
 src/main/java/frc/robot/subsystems/Intake.java | 8 ++++----
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index bceeaf2f..16ceaf49 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -40,6 +40,7 @@ public static class Drive {
   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;
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 84be2a31..e4117bc7 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -11,11 +11,9 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
-
+import com.revrobotics.CANSparkMax;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -36,7 +34,9 @@ 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. */
+  /**
+   * Returns a boolean value on whether or not the Limit Switch (for the intake) has been activated.
+   */
   public boolean getLimitSwitch() {
     return limitSwitch.get();
   }

From 1f9b633cb9a07c4496f854ebce8b6f9ceeae859f Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 18:46:07 -0600
Subject: [PATCH 23/24] Applied Spotless 2: Electric Boogaloo

---
 src/main/java/frc/robot/RobotContainer.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 089db391..eb12d7b3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -37,6 +37,7 @@ public class RobotContainer {
    */
   /** Singleton instance of {@link Drive} */
   public static Drive drive = new Drive();
+
   public static Intake intake = new Intake();
 
   /*

From ed9cf41afa497078b3c10944070ea5bda96a5c17 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 24 Jan 2024 19:13:52 -0600
Subject: [PATCH 24/24] Implemented addRequirements()

---
 src/main/java/frc/robot/commands/RunIntake.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/commands/RunIntake.java b/src/main/java/frc/robot/commands/RunIntake.java
index e0159571..0f816c01 100644
--- a/src/main/java/frc/robot/commands/RunIntake.java
+++ b/src/main/java/frc/robot/commands/RunIntake.java
@@ -22,6 +22,7 @@ public class RunIntake extends Command {
   /** Creates a new RunIntake. */
   public RunIntake() {
     this.intake = RobotContainer.intake;
+    addRequirements(intake);
   }
 
   // Called when the command is initially scheduled.