Create an Intake subsystem for our robot's intake! Just like the Drivetrain subsystem, most of the low level logic should be handled by IntakeIO: currently the only necessary fields should be an IntakeIO and the IntakeIO Inputs. The subsystem should have methods to get the position (which is stored in the Inputs field), and set the voltage (through the IntakeIO field).
Make sure you override periodic similarly to the way its done in Drivetrain to properly log appropriate data!
Create an Intake subsystem for our robot's intake! Just like the
Drivetrainsubsystem, most of the low level logic should be handled byIntakeIO: currently the only necessary fields should be anIntakeIOand theIntakeIOInputs. The subsystem should have methods to get the position (which is stored in theInputsfield), and set the voltage (through theIntakeIOfield).Make sure you override periodic similarly to the way its done in
Drivetrainto properly log appropriate data!