From 94de44728c0a2a7957e113db5b42c7940e3e42cc Mon Sep 17 00:00:00 2001
From: TheRealGrayden <nmunier65@gmail.com>
Date: Thu, 5 Mar 2026 19:41:17 -0500
Subject: [PATCH] Added intake subsystem

---
 src/main/java/frc/robot/Constants.java        |  6 +-
 .../java/frc/robot/subsystems/Intake.java     | 98 +++++++++++++++++++
 2 files changed, 103 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc/robot/subsystems/Intake.java

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index be5911a..16168d8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -60,6 +60,10 @@ public final class Constants {
     public static final int PIGEON_ID = 1;
   }
   
-
+  public static class IntakeConstants {
+    public static final int EXTEND_CHANNEL = 0;
+    public static final int RETRACT_CHANNEL = 1;
+    public static final int INTAKE_MOTOR_ID = 2; 
+  }
   
 }
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
new file mode 100644
index 0000000..0ebfee1
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -0,0 +1,98 @@
+// 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 frc.robot.subsystems;
+
+import org.fairportrobotics.frc.posty.TestableSubsystem;
+import org.fairportrobotics.frc.posty.test.PostTest;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import frc.robot.Constants;
+import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
+
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class Intake extends TestableSubsystem {
+  /** Creates a new ExampleSubsystem. */
+  public Intake() 
+  {
+    extendRelay = new DigitalOutput(Constants.IntakeConstants.EXTEND_CHANNEL);
+    retractRelay = new DigitalOutput(Constants.IntakeConstants.RETRACT_CHANNEL);
+    intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID);
+    retractRelay.set(false);
+    extendRelay.set(false);
+  }
+
+  public void neutral()
+  {
+    retractRelay.set(false);
+    extendRelay.set(false);
+  }
+
+  public void extend()
+  {
+    retractRelay.set(false);
+    extendRelay.set(true);
+  }
+
+  public void retract()
+  {
+    extendRelay.set(false);
+    retractRelay.set(true);
+  }
+
+  public void setSpeed(double speed)
+  {
+    intakeMotor.set(speed);
+  }
+
+  private DigitalOutput extendRelay;
+  private DigitalOutput retractRelay;
+  private TalonFX intakeMotor;
+
+  /**
+   * Example command factory method.
+   *
+   * @return a command
+   */
+  public Command exampleMethodCommand() {
+    // Inline construction of command goes here.
+    // Subsystem::RunOnce implicitly requires `this` subsystem.
+    return runOnce(
+        () -> {
+          /* one-time action goes here */
+        });
+  }
+
+  /**
+   * An example method querying a boolean state of the subsystem (for example, a digital sensor).
+   *
+   * @return value of some boolean subsystem state, such as a digital sensor.
+   */
+  public boolean exampleCondition() {
+    // Query some boolean state, such as a digital sensor.
+    return false;
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+
+  @PostTest(name = "A friendly name", enabled = true)
+  public void myFailingPostTest(){
+    assertThat(true).isFalse();
+  }
+
+  @PostTest(enabled = true)
+  public void myPassingPostTest(){
+    assertThat("Hello World").endWith("World");
+  }
+}