Added Intake Subsystem

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PrimaryOpMode.java

@@ -8,14 +8,17 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import org.firstinspires.ftc.teamcode.commands.RunIntake;
 import org.firstinspires.ftc.teamcode.commands.RunShooter;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
 import org.firstinspires.ftc.teamcode.subsystems.Shooter;
 
 @TeleOp(name = "PrimaryOpMode", group= "NormalOpModes")
 public class PrimaryOpMode extends OpMode {
     private Motor fL, fR, bL, bR;
     private MecanumDrive drive;
     private Shooter shooter;
+    private Intake intake;
     private GamepadEx driverOp;
 
     private GamepadEx coOp;
@@ -33,7 +36,10 @@ public void init() {
 
         shooter = new Shooter(hardwareMap, "shooterMotor");
 
+        intake = new Intake(hardwareMap, "intakeMotor");
+
         coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(new RunShooter(shooter, 1));
+        coOp.getGamepadButton(GamepadKeys.Button.B).whileHeld(new RunIntake(intake, 0.5));
     }
 
     @Override

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java

@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.commands;
+
+import com.arcrobotics.ftclib.command.CommandBase;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+
+public class RunIntake extends CommandBase {
+
+    private Intake subsystem;
+
+    private double speed;
+
+    public RunIntake(Intake _subsystem, double _speed) {
+        subsystem = _subsystem;
+        addRequirements(subsystem);
+        speed = _speed;
+    }
+
+    @Override
+    public void initialize() {
+        subsystem.run(speed);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        subsystem.stop();
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java

@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.arcrobotics.ftclib.command.SubsystemBase;
+import com.arcrobotics.ftclib.hardware.motors.Motor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Intake extends SubsystemBase {
+    private Motor intakeMotor;
+
+    public Intake(HardwareMap map, String motorName) {
+        intakeMotor = new Motor(map, motorName);
+        intakeMotor.setRunMode(Motor.RunMode.RawPower);
+    }
+
+    public void run(double speed) {
+        double clampedSpeed = Math.max(-1.0, Math.min(1.0, speed));
+        intakeMotor.set(clampedSpeed);
+    }
+
+    public void stop() {
+        intakeMotor.stopMotor();
+    }
+}