refactored naming, changed modifiers, and reoganized a bit. configura…

…tion and tuning methods still need to be written

src/main/java/org/robolancers321/RobotContainer.java

@@ -1,15 +1,19 @@
 /* (C) Robolancers 2024 */
 package org.robolancers321;
 
+import org.robolancers321.subsystem.Sucker;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import org.robolancers321.subsystem.Intake;
 
 public class RobotContainer {
-
-  public Intake intake = new Intake();
+  private Sucker sucker;
 
   public RobotContainer() {
+    this.sucker = Sucker.getInstance();
+
+    this.sucker.setDefaultCommand(this.sucker.tuneController());
+
     configureBindings();
   }
 

src/main/java/org/robolancers321/subsystem/Sucker.java

@@ -0,0 +1,112 @@
+/* (C) Robolancers 2024 */
+package org.robolancers321.subsystem;
+
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkPIDController;
+import com.revrobotics.CANSparkBase.ControlType;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Sucker extends SubsystemBase {
+  /*
+   * Singleton
+   */
+
+  private static Sucker instance = null;
+
+  public static Sucker getInstance(){
+    if (instance == null) instance = new Sucker();
+
+    return instance;
+  }
+
+  /*
+   * Constants
+   */
+
+  private static final int kMotorPort = 0;
+
+  private static final boolean kInvertMotor = false;
+  private static final int kCurrentLimit = 20;
+
+  private static final double kP = 0.0;
+  private static final double kI = 0.0;
+  private static final double kD = 0.0;
+  private static final double kFF = 0.01;
+
+  private static final double kInRPM = -2000;
+  private static final double kOutRPM = 1000;
+
+  /*
+   * Implementation
+   */
+
+  private CANSparkMax motor;
+  private RelativeEncoder encoder;
+  private SparkPIDController controller;
+
+  private Sucker() {
+    this.motor = new CANSparkMax(kMotorPort, MotorType.kBrushless);
+    this.encoder = this.motor.getEncoder();
+    this.controller = this.motor.getPIDController();
+
+    this.configureMotor();
+    this.configureEncoder();
+    this.configureController();
+  }
+
+  private void configureMotor(){
+    // TODO: inversion, current limit, idle mode, voltage compensation
+  }
+
+  public void configureEncoder(){
+    // TODO: set velocity conversion factor to 1
+  }
+
+  public void configureController(){
+    // TODO: set kP, kI, kD, kFF on controller
+  }
+
+  public double getVelocityRPM(){
+    return this.encoder.getVelocity();
+  }
+
+  private void doSendables(){
+    SmartDashboard.putNumber("sucker velocity rpm", this.getVelocityRPM());
+  }
+
+  @Override
+  public void periodic() {
+    this.doSendables();
+  }
+
+  public void initTuning(){
+    // TODO: put default values for kP, kI, kD, kFF on SmartDashboard
+  }
+
+  public void tune(){
+    // TODO: read the values for kP, kI, kD, kFF from SmartDashboard and update your controller
+  }
+
+  public Command in() {
+    return run(() -> this.controller.setReference(kInRPM, ControlType.kVelocity));
+  }
+
+  public Command out(double power) {
+    return run(() -> this.controller.setReference(kOutRPM, ControlType.kVelocity));
+  }
+
+  public Command off() {
+    return runOnce(() -> this.controller.setReference(0.0, ControlType.kVelocity));
+  }
+
+  public Command tuneController(){
+    initTuning();
+
+    return run(this::tune);
+  }
+}