diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java index f8aab71..f0e758f 100644 --- a/src/main/java/frc/robot/constants/DrivetrainConstants.java +++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java @@ -1,8 +1,8 @@ package frc.robot.constants; public class DrivetrainConstants { - public static final int kLeftFrontID = 0; - public static final int kLeftRearID = 1; - public static final int kRightFrontID = 2; - public static final int kRightRearID = 3; + public static final int kLeftFrontID = 1; + public static final int kLeftRearID = 2; + public static final int kRightFrontID = 3; + public static final int kRightRearID = 4; } diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java index b9ab163..c7b1681 100644 --- a/src/main/java/frc/robot/constants/ShooterConstants.java +++ b/src/main/java/frc/robot/constants/ShooterConstants.java @@ -1,6 +1,6 @@ package frc.robot.constants; public class ShooterConstants { - public static final int K1MotorPWM = 0; - public static final int K2MotorPWM = 0; + public static final int K1MotorPWM = 5; + public static final int K2MotorPWM = 6; } diff --git a/src/main/java/frc/robot/constants/intakeConstants.java b/src/main/java/frc/robot/constants/intakeConstants.java index e69de29..27915fa 100644 --- a/src/main/java/frc/robot/constants/intakeConstants.java +++ b/src/main/java/frc/robot/constants/intakeConstants.java @@ -0,0 +1,5 @@ +package frc.robot.constants; + +public class intakeConstants { + public static final int K1MotorPWM = 5; +} diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index e69de29..43e9b8c 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -0,0 +1,30 @@ +package frc.robot.subsystems; + +import java.util.function.DoubleSupplier; + +import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.constants.intakeConstants; + +public class Intake extends SubsystemBase{ + private WPI_VictorSPX motor1; + + + public Intake() { + motor1 = new WPI_VictorSPX(intakeConstants.K1MotorPWM); + + } + public Command setSpeed(DoubleSupplier speed) { + //sets the motors speed + return run(() -> { + motor1.set(speed.getAsDouble()); + }); + } + public Command stop() { + //stops the motors + return setSpeed(() -> 0); + } +} +