working gyro and subsystem

1 files changed, 15 insertions, 1 deletions

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index b68462c..8a3f9b4 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,10 @@
 
 package frc.robot;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -54,8 +58,18 @@ public class Robot extends TimedRobot {
     }
   }
 
+  GenericHID controller = Constants.controller;
+  // CANSparkMax shooter_top = new CANSparkMax(21, MotorType.kBrushless);
+  // CANSparkMax shooter_bottom = new CANSparkMax(22, MotorType.kBrushless);
+  CANSparkMax intakeL = new CANSparkMax(31, MotorType.kBrushless);
+  CANSparkMax intakeR = new CANSparkMax(32, MotorType.kBrushless);
+
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() 
+  {
+    intakeL.set(controller.getRawAxis(1));
+    intakeR.set(controller.getRawAxis(3));
+  }
 
   @Override
   public void teleopExit() {}