Changes to Intake also Juicy 3

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 +1,18 @@
 package org.usfirst.frc4904.robot;
 
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.Subsystem;
+
+import org.usfirst.frc4904.standard.custom.PCMPort;
 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.custom.motioncontrollers.CANTalonSRX;
+import org.usfirst.frc4904.standard.subsystems.SolenoidSubsystem.SolenoidState;
+import org.usfirst.frc4904.standard.subsystems.SolenoidSubsystem;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+import org.usfirst.frc4904.robot.subsystems.Intake;
+
 
 public class RobotMap {
     public static class Port {
@@ -12,6 +22,7 @@ public static class HumanInput {
         }
 
         public static class CANMotor {
+            public static final int AXLE_INTAKE_MOTOR = -1; //TODO: set port for axel intake motor
         }
 
         public static class PWM {
@@ -21,6 +32,7 @@ public static class CAN {
         }
 
         public static class Pneumatics {
+            public static final PCMPort DRAWBRIDGE_INTAKE_SOLENOID = new PCMPort(-1, PneumaticsModuleType.CTREPCM, -1, -1); //TODO: set port for drawbridge intake motor
         }
 
         public static class Digital {
@@ -51,6 +63,9 @@ public static class Turn {
     }
 
     public static class Component {
+        public static Intake intake;
+        public static Motor intakeAxleMotor;
+        public static SolenoidSubsystem intakeDrawbridgeSolenoid;
     }
 
     public static class Input {
@@ -70,5 +85,7 @@ public RobotMap() {
         HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController);
 		HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick);
 
+        Component.intakeDrawbridgeSolenoid = new SolenoidSubsystem("Intake Drawbridge Solenoid", false, SolenoidState.RETRACT, Port.Pneumatics.DRAWBRIDGE_INTAKE_SOLENOID.buildDoubleSolenoid()); //TODO: check if CANTalonFX or SRX
+        Component.intakeAxleMotor = new Motor("Intake Motor", false, new CANTalonFX(Port.CANMotor.AXLE_INTAKE_MOTOR)); //TODO: check if CANTalonFX or SRX
     }
 }

src/main/java/org/usfirst/frc4904/robot/commands/intake/AxleIntakeOff.java

@@ -0,0 +1,10 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+
+public class AxleIntakeOff extends MotorIdle {
+    public AxleIntakeOff() {
+        super("Stop Axle Intake", RobotMap.Component.intakeAxleMotor);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/AxleIntakeOn.java

@@ -0,0 +1,10 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+public class AxleIntakeOn extends MotorConstant {
+    public AxleIntakeOn() {
+        super("Axel Intake On", RobotMap.Component.intakeAxleMotor, 0.5); // todo: needs motor speed
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/ExtendIntake.java

@@ -0,0 +1,10 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.solenoid.SolenoidExtend;
+
+public class ExtendIntake extends SolenoidExtend { //It extends the drawbridge which has the intake mechanism attached to it.
+    public ExtendIntake() {
+        super("Extend Intake Drawbridge", RobotMap.Component.intakeDrawbridgeSolenoid);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/RetractIntake.java

@@ -0,0 +1,10 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.solenoid.SolenoidRetract;
+
+public class RetractIntake extends SolenoidRetract { //It extends the drawbridge which has the intake mechanism attached to it.
+    public RetractIntake() {
+        super("Retract Intake Drawbridge", RobotMap.Component.intakeDrawbridgeSolenoid);
+    }
+}

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

@@ -0,0 +1,17 @@
+package org.usfirst.frc4904.robot.subsystems;
+import org.usfirst.frc4904.standard.subsystems.SolenoidSubsystem;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
+public class Intake {
+    public final static double DEFAULT_INTAKE_MOTOR_SPEED = 0.0; //needs value
+    // public final static double DEFAULT_DRAWBRIDGE_MOTOR_SPEED = 0.0; //needs value
+    public final static double DEFAULT_OFF_SPEED = 0.0;
+
+    public final SolenoidSubsystem drawbridgeSolenoid;
+    public final Motor axelMotor;
+
+    public Intake(Motor axelMotor, SolenoidSubsystem drawbridgeSolenoid) {
+        this.axelMotor = axelMotor;
+        this.drawbridgeSolenoid = drawbridgeSolenoid;
+    }
+}