1 files changed, 18 insertions, 4 deletions
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 85cbbf8..41620bb 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -1,17 +1,25 @@
 package frc.robot.subsystems;
 
 import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
 
 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 static final CANSparkMax m_intakeT = new CANSparkMax(Constants.intakeT_ID, MotorType.kBrushless);
+    public static final CANSparkMax m_intakeD = new CANSparkMax(Constants.intakeD_ID, MotorType.kBrushless);
+    private final RelativeEncoder m_intakeD_encoder = m_intakeD.getEncoder();
 
-    public Intake() { }
+    public Intake() 
+    {
+        m_intakeT.setInverted(true);
+        m_intakeD.setInverted(true);
+    }
 
     public void atPercentage(double perc) 
     {
@@ -23,12 +31,18 @@ public class Intake extends SubsystemBase
         m_intakeT.set(upPerc);
         m_intakeD.set(downPerc);
     }
+    public void shoot() 
+    {
+        if (m_intakeD_encoder.getVelocity() > 2000) {
+            m_intakeT.set(1);
+        }
+        m_intakeD.set(1);
+    }
 
     @Override
     public void periodic()
     {
         Logger.recordOutput(getName() + "/speedT", m_intakeT.getEncoder().getVelocity());
         Logger.recordOutput(getName() + "/speedD", m_intakeD.getEncoder().getVelocity());
-
     }
 }