buttons

src/main/java/frc/robot/Commands/IntakeCommand.java

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.IntakeSubsystem;
+
+public class IntakeCommand extends CommandBase {
+  /** Creates a new IntakeCommand. */
+
+  public final IntakeSubsystem intakeSubsystem;
+  private double motorPower;
+
+  public IntakeCommand(IntakeSubsystem intakeSubsystem, double motorPower) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.intakeSubsystem = intakeSubsystem;
+    this.motorPower = motorPower;
+
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    intakeSubsystem.setIntakePower(motorPower);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/RobotContainer.java

@@ -3,8 +3,11 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.commands.ElevatorBaseCommand;
+import frc.robot.commands.IntakeCommand;
 import frc.robot.subsystems.ElevatorSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -15,6 +18,7 @@
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final ElevatorSubsystem elevatorSubsystem = new ElevatorSubsystem();
+  private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
 
   private final ElevatorBaseCommand ElevatorBaseCommand =
       new ElevatorBaseCommand(elevatorSubsystem, 0);
@@ -39,7 +43,10 @@ public RobotContainer() {
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {}
+  private void configureButtonBindings() {
+    driverA.a().onTrue(new IntakeCommand(intakeSubsystem, 0.5));
+    driverA.y().onTrue(new IntakeCommand(intakeSubsystem, 0));
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.Intake;
+
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonFX;
+
+public class IntakeSubsystem extends SubsystemBase {
+  private double intakeMotorPower;
+  private TalonFX intake_motor;
+  /** Creates a new IntakeSubsystem. */
+  public IntakeSubsystem() {
+    intake_motor = new TalonFX(Intake.MOTOR_PORT);
+    intakeMotorPower = 0;
+
+  }
+
+  public void setIntakePower(double intakeMotorPower) {
+    this.intakeMotorPower = intakeMotorPower;
+
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    intake_motor.set(TalonFXControlMode.PercentOutput, intakeMotorPower);
+  }
+}