From: Saara21 <113394225+Saara21@users.noreply.github.com>
Date: Wed, 4 Feb 2026 00:17:39 +0000 (-0800)
Subject: incompelte
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=feb6179cd057455c5f39a930981abdf063e55dff;p=FRC2026.git

incompelte
---

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
new file mode 100644
index 0000000..00b27f1
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -0,0 +1,50 @@
+package frc.robot.subsystems.Intake;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+
+
+public class Intake extends SubsystemBase {
+    private TalonFX rollerMotor; 
+    private TalonFX rightMotor;
+    private TalonFX leftMotor; //invert this one
+    private double position;
+    private double maxExtension;
+    private double current;
+
+    public Intake() {
+       // set actual IDs
+        rollerMotor = new TalonFX(0);
+        rightMotor = new TalonFX(0);
+        leftMotor = new TalonFX(0);
+
+    }
+    public void periodic() {
+        // current threshold + PID stuff
+    }
+    public void simulationPeriodic(){
+
+    }
+    public void setPosition(double position) {
+
+
+    }
+    public void spin(double speed) {
+        rollerMotor.set(0.2);
+    }
+
+
+    public void extend() {
+       setPosition(maxExtension);
+
+    }
+    public void retract(){
+        setPosition(0);
+        
+    }
+    
+}