commit 1

src/main/java/frc/robot/commands/PidIntakeCommand.java

@@ -0,0 +1,37 @@
+package frc.robot.commands;
+
+import java.util.function.DoubleSupplier;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import frc.robot.subsystems.IntakeSubsystem;
+
+
+public class PidIntakeCommand extends PIDCommand {
+
+  public PidIntakeCommand(IntakeSubsystem m_intake, double position) {
+    super(
+
+        new PIDController(1, 0, 0),
+
+        () -> m_intake.getEncoderOutput(),
+
+        () -> position,
+
+        output -> {
+          if (position > m_intake.getEncoderOutput()) {
+            m_intake.intakeMotorOutput(-output);;
+          } else if (position < m_intake.getEncoderOutput()) {
+            m_intake.intakeMotorOutput(output);;
+          }
+
+        });
+
+  }
+
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ResetIntakeEncoder.java

@@ -0,0 +1,47 @@
+
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.IntakeSubsystem;
+
+public class ResetIntakeEncoder extends Command {
+
+    IntakeSubsystem m_intake;
+
+    public ResetIntakeEncoder(IntakeSubsystem m_intake){
+      this.m_intake = m_intake;
+
+    }
+
+
+
+
+  @Override
+  public void initialize() {}
+
+
+
+
+  @Override
+
+
+
+  public void execute() {
+    m_intake.reset();
+  }
+
+
+
+
+  @Override
+  public void end(boolean interrupted) {}
+
+
+
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,58 @@
+
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class IntakeSubsystem extends SubsystemBase {
+
+// intake nota motorları
+public static CANSparkMax intakeMotor1 = new CANSparkMax(0,MotorType.kBrushless);
+public static CANSparkMax intakeMotor2 = new CANSparkMax(0,MotorType.kBrushless);
+
+//intake main motor
+public static CANSparkMax intakeMotor = new CANSparkMax(0,MotorType.kBrushless);
+
+
+public RelativeEncoder IntakeEncoder;
+
+
+  public IntakeSubsystem() {
+    intakeMotor.setIdleMode(IdleMode.kBrake);
+    IntakeEncoder = intakeMotor.getEncoder();
+    intakeMotor.setOpenLoopRampRate(1);
+  }
+
+  public void brakemode(){
+    intakeMotor.setIdleMode(IdleMode.kBrake);
+
+  }
+  public void coastmode(){
+    intakeMotor.setIdleMode(IdleMode.kCoast);
+  }
+
+  public double getRawEncoderOutput(){
+    return IntakeEncoder.getPosition();
+  }
+  public double getEncoderOutput(){
+    return IntakeEncoder.getPosition() * -10;
+  }
+  public void reset() {
+    IntakeEncoder.setPosition(0);
+  }
+
+    public void intakeMotorOutput(double value){
+      intakeMotor.set(value);
+    }
+
+  @Override
+  public void periodic() {
+
+  }
+}

vendordeps/REVLib.json

@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.1",
+    "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": "2024.2.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.1",
+            "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": "2024.2.1",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}