refactored toolkit

config.py

@@ -21,7 +21,7 @@
 # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-intake_id= 1 #PLACEHOLDER
+intake_id= 9
 INTAKE_CONFIG= TalonConfig(
     0.315, 0, 0.0, 0, 0, brake_mode=False, current_limit=60, kV=0.12 #PLACEHOLDERS
 )

subsystem/intake.py

@@ -1,7 +1,7 @@
 import config
 import constants
 from toolkit.subsystem import Subsystem
-from toolkit.motors.rev_motors import TalonFX
+from toolkit.motors.ctre_motors import TalonFX
 
 class Intake(Subsystem):
 
@@ -14,9 +14,11 @@ def __init__(self):
             inverted=False
         )
 
-    def start_intake(self):
-        self.motor.set_raw_output(10) #placeholder
+        self.note_exists_within: bool = False
+
+    def start_motor(self):
+        self.motor.set_raw_output(1) #placeholder
 
-    def stop_intake(self):
+    def stop_motor(self):
         self.motor.set_raw_output(0)
 

toolkit/command.py

@@ -0,0 +1,24 @@
+from typing import Generic, TypeVar
+import commands2
+
+from toolkit.subsystem import Subsystem
+
+T = TypeVar("T", bound=Subsystem)
+
+
+class BasicCommand(commands2.Command):
+    """
+    Extendable basic command
+    """
+    ...
+
+
+class SubsystemCommand(BasicCommand, Generic[T]):
+    """
+    Extendable subsystem command
+    """
+
+    def __init__(self, subsystem: T):
+        super().__init__()
+        self.subsystem = subsystem
+        self.addRequirements(subsystem)

toolkit/motor.py

@@ -1,8 +1,6 @@
-
 from units.SI import radians_per_second, radians
 
 
-
 class Motor:
     def init(self): ...
 

toolkit/motors/__init__.py

@@ -1,2 +1,2 @@
-from toolkit.motors.ctre_motors import TalonSRX, TalonFX, TalonGroup, TalonConfig
+from toolkit.motors.ctre_motors import TalonFX, TalonConfig
 from toolkit.motors.rev_motors import SparkMax, SparkMaxConfig