Intake

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 java {

src/main/java/frc/robot/Constants.java

@@ -15,5 +15,14 @@
 public final class Constants {
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
+    public static final int kDriverMechPort = 1; 
+
+    public static final int leftFrontMotor = 0;
+    public static final int leftBackMotor = 1;
+    public static final int rightFrontMotor = 2;
+    public static final int rightBackMotor = 3;
+
+    public static final int dustpanMotor = 4;
+
   }
 }

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

@@ -6,9 +6,13 @@
 
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
@@ -20,14 +24,23 @@
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final DriveSubsystem driveSubsystem;
+  private final IntakeSubsystem intakeSubsystem;
+
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final CommandXboxController driverController =
       new CommandXboxController(OperatorConstants.kDriverControllerPort);
+
+
+  private final CommandXboxController mechController =
+      new CommandXboxController(OperatorConstants.kDriverMechPort);
+
+
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     driveSubsystem = new DriveSubsystem();
+    intakeSubsystem = new IntakeSubsystem();
     // Configure the trigger bindings
     configureBindings();
   }
@@ -46,6 +59,13 @@ private void configureBindings() {
       driveSubsystem.setDrivePowers(driverController.getLeftY(), driverController.getRightY());
     }, driveSubsystem));
 
+    intakeSubsystem.setDefaultCommand(new InstantCommand(()-> {
+      intakeSubsystem.SetIntakeSpeed(mechController.getLeftTriggerAxis()-mechController.getRightTriggerAxis());
+    }, intakeSubsystem));
+
+
+
+
   }
 
   /**

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

@@ -13,6 +13,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.OperatorConstants;
 
 public class DriveSubsystem extends SubsystemBase {
 
@@ -21,10 +22,10 @@ public class DriveSubsystem extends SubsystemBase {
   private double leftPower, rightPower;
 
   public DriveSubsystem() {
-    leftFrontMotor = new WPI_TalonSRX(0);
-    leftBackMotor = new WPI_TalonSRX(1);
-    rightFrontMotor = new WPI_TalonSRX(2);
-    rightBackMotor = new WPI_TalonSRX(3);
+    leftFrontMotor = new WPI_TalonSRX(OperatorConstants.leftFrontMotor);
+    leftBackMotor = new WPI_TalonSRX(OperatorConstants.rightBackMotor);
+    rightFrontMotor = new WPI_TalonSRX(OperatorConstants.rightFrontMotor);
+    rightBackMotor = new WPI_TalonSRX(OperatorConstants.rightBackMotor);
 
     leftPower = 0;
     rightPower = 0;

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

@@ -0,0 +1,34 @@
+package frc.robot.subsystems;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.OperatorConstants;
+
+public class IntakeSubsystem extends SubsystemBase{
+
+    // private final CANSparkMax intakeMotor;
+    private final WPI_TalonSRX dustpanMotor; 
+    private double speed;
+
+
+
+    public IntakeSubsystem() {
+        dustpanMotor = new WPI_TalonSRX(OperatorConstants.dustpanMotor);
+
+    }
+
+    public void SetIntakeSpeed(double speed){
+        this.speed = speed;
+    }
+
+    @Override
+    public void periodic() {
+       dustpanMotor.set(speed);
+    }
+
+
+}

vendordeps/REVLib.json

@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.4",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}