Intake

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

@@ -16,4 +16,7 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+    public static final class Intake {
+        public static final double power = 0.8; // [%]
+    }
 }

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

@@ -11,14 +11,23 @@
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.ExampleSubsystem.ExampleSubsystem;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.robot.subsystems.intake.Intake;
+import frc.robot.subsystems.intake.commands.Commandy;
+
+
 /**
  * This class is where the bulk of the robot should be declared.  Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
  * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
  * (including subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
+  public XboxController Xbox = new XboxController(1);
+  public JoystickButton a = new JoystickButton(Xbox, XboxController.Button.kA.value);
+  public JoystickButton b = new JoystickButton(Xbox, XboxController.Button.kB.value);
+  private Intake intake;
+
   // The robot's subsystems and commands are defined here...
 
 
@@ -37,6 +46,7 @@ public RobotContainer() {
    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
+    a.whileHeld(new Commandy(intake, Constants.Intake.power));
   }
 
 

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

@@ -0,0 +1,62 @@
+package frc.robot.subsystems.intake;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+/**
+ * Add&named motors in Intake.
+ */
+public class Intake extends SubsystemBase {
+    private TalonSRX motor = new TalonSRX(Ports.Intake.MOTOR);
+    private Solenoid piston = new Solenoid(Ports.Intake.SOLENOID);
+
+    /**
+     * Add motor inverted.
+     */
+    public void TalonSRXSelenoid() {
+        this.motor.setInverted(Ports.Intake.IS_MOTOR_INVERTED);
+    }
+
+    /**
+     * Set power for motor.
+     * @param power the speed times the torque.
+     */
+    public void setMotorPower(double power) {
+        motor.set(ControlMode.PercentOutput, power);
+    }
+
+    /**
+     * A check to see if piston is open or close.
+     * @return
+     */
+    public boolean isPistonEngaged() {
+        return piston.get();
+    }
+
+    /**
+     * Set piston position.
+     * @param engaged
+     */
+    public void setPistonMode(boolean engaged) {
+        piston.set(engaged);
+    }
+
+    /**
+     * Change piston position.
+     */
+    public void toggle() {
+        if (isPistonEngaged()) {
+            setPistonMode(false);
+        } else {
+            setPistonMode(true);
+        }
+
+    }
+
+}
+
+
+
+

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

@@ -0,0 +1,14 @@
+package frc.robot.subsystems.intake;
+
+
+/**
+ * Data of MOTOR & SOLENOID power.
+ * Data of is MOTOR inverted.
+ */
+public class Ports {
+    public static class Intake {
+        public static final int MOTOR = 0;
+        public static final int SOLENOID = 0;
+        public static final boolean IS_MOTOR_INVERTED = true;
+    }
+}

src/main/java/frc/robot/subsystems/intake/commands/Commandy.java

@@ -0,0 +1,51 @@
+package frc.robot.subsystems.intake.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.intake.Intake;
+
+/**
+ * Add Commandy function;
+ */
+public class Commandy extends CommandBase {
+    private final Intake intake;
+    private final double power;
+
+    /**
+     * Add Requirements
+     *
+     * @param intake name to Intake.
+     */
+    public Commandy(Intake intake, double power) {
+        this.intake = intake;
+        this.power = power;
+        addRequirements(intake);
+
+    }
+
+
+    @Override
+    public void initialize() {
+        super.initialize();
+        intake.setPistonMode(false);
+    }
+
+
+    @Override
+    public void execute() {
+        super.execute();
+        intake.setMotorPower(power);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return super.isFinished();
+    }
+
+
+    @Override
+    public void end(boolean interrupted) {
+        super.end(interrupted);
+        intake.setMotorPower(0);
+        intake.setPistonMode(true);
+    }
+}