Created intake subsystem, intake command, and added it to OI

[riy8j]

Context: I created Intake Subsystem, Command, and abilities to work in OI that will be changed once we have AutoAlign
Description: Moves IntakeArm and intake itself for the balls and adjust.
Tested: It simulated and Showed Motor properties.
Issues: only issues with Joystick not being plugged in and some possible minor issues with .withLength and .withPIDProperties in IntakeSystem. We can adjust after mechanical and electrical give us more data if there are any issues as well.
References: https://github.com/jcballock/2026-frc-learning repo/blob/main/src/main/java/frc/robot/subsystems/IntakeSubsystem.java

[jcballock]

camelCase!

Suggested change

	public IntakeSubsystem IntakeSubsystem;
	public IntakeSubsystem intakeSubsystem;

[jcballock]

camelCase

[jcballock]

What are we trying to accomplish with this command? It seems like it is very similar to the commands you wrote for intake and outtake?

[riy8j]

The command seems to handle the intake’s speed and power, and it also affects the arm movement. Since the arm already has logic in the subsystem, it might be cleaner to give it its own command so responsibilities stay clear. If the command can be seen as not necessary, i'll adjust it.

[jcballock]

Yep understood I think there are kinda some confusing things going on here. On line 26 you are calling the setSpeed function you made in the intake subsystem which does this

    public void setSpeed(double i) {
        intakeMotor.setControl(new VoltageOut(i));
        intakeArmMotor.setControl(new VoltageOut(i));
    }

This function is turning on the intake and intake arm, but then after that you call the intakeSubsystem.setAngle which overwrites the intakeArmMotor control. Additionally the setSpeed and stop functions operate very similarly to the setDutyCycle command you wrote.

You have two options:

• If you want to have different command classes then I would recommend looking over the subsystem code you wrote to 1) generate any commands as classes and 2) clean up dead code.
• If you don't want to have different command classes then I would recommend removing this class and the new functions generated and stick to the commands that you wrote in the subsystem already (intake, outtake, retract, etc.).