feat: intake by setting desired states. Using a DutyCycle encoder for…

… the absolute popition.

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

@@ -4,17 +4,32 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.robot.subsystems.ShooterSubsystem;
 
 public class RobotContainer {
+  public final ShooterSubsystem m_ShooterSubsystem = new ShooterSubsystem();
+  private XboxController controller = new XboxController(0);
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    new JoystickButton(controller, Button.kB.value)
+      .onTrue(new InstantCommand(() -> m_ShooterSubsystem.spin(0.75), m_ShooterSubsystem))
+      .onFalse(new InstantCommand(() -> m_ShooterSubsystem.spin(0), m_ShooterSubsystem));
+    new JoystickButton(controller, Button.kA.value)
+      .onTrue(new InstantCommand(() -> m_ShooterSubsystem.spin(-0.75), m_ShooterSubsystem))
+      .onFalse(new InstantCommand(() -> m_ShooterSubsystem.spin(0), m_ShooterSubsystem));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
-}
+}

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

@@ -0,0 +1,28 @@
+// 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 com.revrobotics.CANSparkFlex;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+public class ShooterSubsystem extends SubsystemBase {
+  /** Creates a new ShooterSubsystem. */
+  CANSparkFlex m_bottom = new CANSparkFlex(20, MotorType.kBrushless);
+  CANSparkFlex m_top = new CANSparkFlex(35, MotorType.kBrushless);
+  public ShooterSubsystem() {
+
+
+  }
+  public void spin(double speed){
+    m_bottom.set(speed);
+    m_top.set(speed);
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    // SmartDashboard.putNumber("Speed", m_bottom.);
+  }
+}

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

@@ -0,0 +1,21 @@
+// 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 edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class intake extends SubsystemBase {
+  /** Creates a new intake. */
+  public intake() {}
+
+  void load(int speed){
+    //TODO: Implement load/unload through speed (which is a trigger)
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

vendordeps/REVLib.json

@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.0",
+    "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": "2024.2.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.0",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.0",
+            "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": "2024.2.0",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}