Indexer two motors (belt)

build.gradle

@@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.1.1"
+    id "edu.wpi.first.GradleRIO" version "2022.2.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

@@ -1,8 +1,10 @@
 package org.usfirst.frc4904.robot;
-
-import edu.wpi.first.wpilibj2.command.Subsystem;
 import org.usfirst.frc4904.standard.custom.controllers.CustomJoystick;
 import org.usfirst.frc4904.standard.custom.controllers.CustomXbox;
+import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonFX;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+import org.usfirst.frc4904.robot.subsystems.Indexer;
+
 
 public class RobotMap {
     public static class Port {
@@ -12,6 +14,9 @@ public static class HumanInput {
         }
 
         public static class CANMotor {
+            public static final int indexerMotor1 = -1; // TODO: set port
+            public static final int indexerMotor2 = -1; // TODO: set port
+
         }
 
         public static class PWM {
@@ -51,6 +56,8 @@ public static class Turn {
     }
 
     public static class Component {
+        public static Indexer indexer;
+        public static Motor motor;
     }
 
     public static class Input {
@@ -70,5 +77,9 @@ public RobotMap() {
         HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController);
 		HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick);
 
+        Component.indexer = new Indexer(new Motor("Indexer 1", false, new CANTalonFX(Port.CANMotor.indexerMotor1)), new Motor("Indexer 2", false, new CANTalonFX(Port.CANMotor.indexerMotor2)));
+
+
+
     }
-}
+}

src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOff.java

@@ -0,0 +1,20 @@
+package org.usfirst.frc4904.robot.commands.indexer;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+
+
+public class IndexerOff extends ParallelCommandGroup {
+
+  /**
+   * Set indexer motor speed to zero
+   */
+  public IndexerOff() {
+    this.addCommands(
+      new MotorIdle(RobotMap.Component.indexer.indexerMotor1),
+      new MotorIdle(RobotMap.Component.indexer.indexerMotor2)
+    );
+  }
+}

src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerOn.java

@@ -0,0 +1,9 @@
+package org.usfirst.frc4904.robot.commands.indexer;
+
+import org.usfirst.frc4904.robot.subsystems.Indexer;
+
+public class IndexerOn extends IndexerSet {
+    public IndexerOn() {
+        super(Indexer.DEFAULT_INDEXER_SPEED, Indexer.DEFAULT_INDEXER_SPEED);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/indexer/IndexerSet.java

@@ -0,0 +1,14 @@
+package org.usfirst.frc4904.robot.commands.indexer; 
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+
+
+public class IndexerSet extends ParallelCommandGroup {
+    public IndexerSet(double speed1, double speed2) {
+        this.addCommands(
+            new MotorConstant(RobotMap.Component.indexer.indexerMotor1, speed1),
+            new MotorConstant(RobotMap.Component.indexer.indexerMotor2, speed2)
+        );
+    }
+}

src/main/java/org/usfirst/frc4904/robot/subsystems/Indexer.java

@@ -0,0 +1,19 @@
+// 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 org.usfirst.frc4904.robot.subsystems;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
+
+public class Indexer extends SubsystemBase {
+
+  public static final double DEFAULT_INDEXER_SPEED = .5; //TODO: Set value
+  public final Motor indexerMotor1;
+  public final Motor indexerMotor2;
+  public Indexer(Motor indexerMotor1, Motor indexerMotor2) {
+    this.indexerMotor1 = indexerMotor1;
+		this.indexerMotor2 = indexerMotor2;
+  }
+}