proto intake

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "io.freefair.lombok" version "8.4"
     id "com.peterabeles.gversion" version "1.10"
     id "org.sonarqube" version "4.4.1.3373"

src/main/java/frc/robot/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2025Reefscape";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 35;
-  public static final String GIT_SHA = "8674f2facd6148db82f6d5a34d2d6eb8c13f0b3c";
-  public static final String GIT_DATE = "2025-01-10 21:32:01 EST";
+  public static final int GIT_REVISION = 38;
+  public static final String GIT_SHA = "3247b4284f4e00bc01d2ba380d636b3d9f9fb3d4";
+  public static final String GIT_DATE = "2025-01-12 13:32:06 EST";
   public static final String GIT_BRANCH = "intake";
-  public static final String BUILD_DATE = "2025-01-11 16:11:33 EST";
-  public static final long BUILD_UNIX_TIME = 1736629893778L;
+  public static final String BUILD_DATE = "2025-01-12 16:15:02 EST";
+  public static final long BUILD_UNIX_TIME = 1736716502078L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -14,6 +14,9 @@
 import frc.robot.subsystems.drive.module.ModuleIO;
 import frc.robot.subsystems.drive.module.ModuleIOSim;
 import frc.robot.subsystems.drive.module.ModuleIOSparkMax;
+import frc.robot.subsystems.intake.IntakeIO;
+import frc.robot.subsystems.intake.IntakeIOProto;
+import frc.robot.subsystems.intake.IntakeSubsystem;
 import org.ironmaple.simulation.SimulatedArena;
 import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
 import org.littletonrobotics.junction.Logger;
@@ -23,16 +26,20 @@ public class RobotContainer {
   private final CommandXboxController driveController = new CommandXboxController(0);
 
   DriveSubsystem driveSubsystem;
+  private final IntakeSubsystem intakeSubsystem;
+
   public RobotContainer() {
     switch (Constants.getMode()) {
-      case REAL ->
+      case REAL -> {
         driveSubsystem = new DriveSubsystem(
             new GyroIOPigeon2(),
             new ModuleIOSparkMax(DriveConstants.MODULE_CONSTANTS[0]),
             new ModuleIOSparkMax(DriveConstants.MODULE_CONSTANTS[1]),
             new ModuleIOSparkMax(DriveConstants.MODULE_CONSTANTS[2]),
             new ModuleIOSparkMax(DriveConstants.MODULE_CONSTANTS[3])
         );
+        intakeSubsystem = new IntakeSubsystem(new IntakeIOProto());
+      }
 
       case SIM -> {
         driveSimulation = new SwerveDriveSimulation(DriveConstants.MAPLE_SIM_CONFIG, new Pose2d(3, 3, new Rotation2d()));
@@ -46,8 +53,10 @@ public RobotContainer() {
         );
 
         SimulatedArena.getInstance().resetFieldForAuto();
+
+        intakeSubsystem = new IntakeSubsystem(new IntakeIO() {});
       }
-      case REPLAY ->
+      case REPLAY -> {
         driveSubsystem = new DriveSubsystem(
             new GyroIO() {
             },
@@ -56,6 +65,11 @@ public RobotContainer() {
             new ModuleIO() {},
             new ModuleIO() {}
         );
+        intakeSubsystem = new IntakeSubsystem(new IntakeIO() {});
+      }
+      default -> {
+        intakeSubsystem = new IntakeSubsystem(new IntakeIO() {});
+      }
     }
     configureBindings();
   }
@@ -67,6 +81,17 @@ private void configureBindings() {
         () -> -driveController.getLeftX(),
         () -> -driveController.getRightX()
     ));
+
+    driveController.a().whileTrue(
+        Commands.run(() -> intakeSubsystem.setIntakePower(6.0), intakeSubsystem)
+    ).whileFalse(
+        Commands.run(() -> intakeSubsystem.setIntakePower(0.0))
+    );
+    driveController.b().whileTrue(
+        Commands.run(() -> intakeSubsystem.setIntakePower(-6.0), intakeSubsystem)
+    ).whileFalse(
+        Commands.run(() -> intakeSubsystem.setIntakePower(0.0))
+    );
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/subsystems/drive/DriveConstants.java

@@ -69,7 +69,7 @@ public class DriveConstants {
                 .driveId(4)
                 .steerId(5)
                 .encoderId(6)
-                .encoderOffset(Rotation2d.fromDegrees(-101.60).unaryMinus())
+                .encoderOffset(Rotation2d.fromDegrees(-101.60).unaryMinus().plus(Rotation2d.k180deg))
                 .steerInverted(true)
                 .turnInverted(false)
                 .build(),
@@ -87,7 +87,7 @@ public class DriveConstants {
                 .driveId(10)
                 .steerId(11)
                 .encoderId(12)
-                .encoderOffset(Rotation2d.fromDegrees(60.20).unaryMinus())
+                .encoderOffset(Rotation2d.fromDegrees(60.20).unaryMinus().plus(Rotation2d.k180deg))
                 .steerInverted(true)
                 .turnInverted(false)
                 .build()

src/main/java/frc/robot/subsystems/drive/intake/IntakeConstants.java → src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.drive.intake;
+package frc.robot.subsystems.intake;
 
 public class IntakeConstants {
     public static final int INTAKE_ID = 0;

src/main/java/frc/robot/subsystems/drive/intake/IntakeIO.java → src/main/java/frc/robot/subsystems/intake/IntakeIO.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.drive.intake;
+package frc.robot.subsystems.intake;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.AutoLog;
@@ -11,7 +11,7 @@ class IntakeIOInputs {
         public double pivotVoltage = 0.0;
         public double intakeVoltage = 0.0;
         public double pivotDraw = 0.0;
-        public double intakeDraw = 0.0;
+        public double intakeCurrentDraw = 0.0;
         public double pivotAppliedVolts = 0.0;
         public double intakeAppliedVolts = 0.0;
         public double pivotTemperature = 0.0;

src/main/java/frc/robot/subsystems/intake/IntakeIOProto.java

@@ -0,0 +1,29 @@
+package frc.robot.subsystems.intake;
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+public class IntakeIOProto implements IntakeIO {
+  private final TalonFX intake;
+
+  public IntakeIOProto() {
+    intake = new TalonFX(17);
+
+    var config = new TalonFXConfiguration();
+    config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+
+    intake.getConfigurator().apply(config);
+  }
+
+  @Override
+  public void updateInputs(IntakeIOInputsAutoLogged inputs) {
+    inputs.intakeAppliedVolts = intake.getMotorVoltage().getValueAsDouble();
+    inputs.intakeCurrentDraw = intake.getSupplyCurrent().getValueAsDouble();
+  }
+
+  @Override
+  public void setMotorVoltageIntake(double voltage) {
+    intake.setVoltage(voltage);
+  }
+}

src/main/java/frc/robot/subsystems/drive/intake/IntakeIOTalon.java → src/main/java/frc/robot/subsystems/intake/IntakeIOTalon.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.drive.intake;
+package frc.robot.subsystems.intake;
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
@@ -104,7 +104,7 @@ public void updateInputs (IntakeIOInputsAutoLogged inputs){
             );
             inputs.intakeVoltage = intakeVoltageSignal.refresh().getValueAsDouble();
             inputs.pivotVoltage = pivotVoltageSignal.refresh().getValueAsDouble();
-            inputs.intakeDraw = intakeDrawSignal.refresh().getValueAsDouble();
+            inputs.intakeCurrentDraw = intakeDrawSignal.refresh().getValueAsDouble();
             inputs.pivotDraw = pivotDrawSignal.refresh().getValueAsDouble();
             inputs.intakeAppliedVolts = intakeAppliedVoltsSignal.refresh().getValueAsDouble();
             inputs.pivotAppliedVolts = pivotAppliedVoltsSignal.refresh().getValueAsDouble();

src/main/java/frc/robot/subsystems/drive/intake/IntakeSubsystem.java → src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems.drive.intake;
+package frc.robot.subsystems.intake;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;