more subsystems

1 files changed, 34 insertions, 0 deletions

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
new file mode 100644
index 0000000..85cbbf8
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -0,0 +1,34 @@
+package frc.robot.subsystems;
+
+import org.littletonrobotics.junction.Logger;
+import com.revrobotics.CANSparkMax;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Intake extends SubsystemBase 
+{
+    private final CANSparkMax m_intakeT = Constants.intakeT;
+    private final CANSparkMax m_intakeD = Constants.intakeD;
+
+    public Intake() { }
+
+    public void atPercentage(double perc) 
+    {
+        atPercentage(perc, perc); 
+    }
+
+    public void atPercentage(double upPerc, double downPerc) 
+    {
+        m_intakeT.set(upPerc);
+        m_intakeD.set(downPerc);
+    }
+
+    @Override
+    public void periodic()
+    {
+        Logger.recordOutput(getName() + "/speedT", m_intakeT.getEncoder().getVelocity());
+        Logger.recordOutput(getName() + "/speedD", m_intakeD.getEncoder().getVelocity());
+
+    }
+}