Merge branch 'main' into dev-intake

Intake.java

@@ -1,44 +1,11 @@
-/* (C) Robolancers 2024 */
-package org.robolancers321.subsystem;
+package org.robolancers321.subsystems;
 
-import com.revrobotics.CANSparkLowLevel.MotorType;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.SparkPIDController;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+public class Intake extends SubsystemBase{
 
-public class Intake extends SubsystemBase {
+    public CANSparkMax intakeMotor;
+
 
-  public CANSparkMax intakemotor;
-  SparkPIDController IntakePIDController;
+    public Intake () {
 
-  public int kport = 0;
-  public double power = 0;
-  public double kFF = 0;
-
-  public void intake() {
-
-    this.intakemotor = new CANSparkMax(kport, MotorType.kBrushless);
-    this.intakemotor.setSmartCurrentLimit(20);
-    SmartDashboard.putNumber("intake-kFF", kFF);
-  }
-
-  @Override
-  public void periodic() {
-
-    intakemotor.set(power);
-    double kFF = SmartDashboard.getNumber("kFF", 0);
-    IntakePIDController.setFF(kFF);
-  }
-
-  public Command on(double power) {
-
-    return runOnce(() -> intakemotor.set(power));
-  }
-
-  public Command off(double power) {
-
-    return runOnce(() -> intakemotor.set(0));
-  }
+        this.intakeMotor = new intakeMotor(0, brushless)
 }