finished intake interface and shuffleboard

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,98 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,23 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo"
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "AdvantageKit": {
+        "Intake": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "Connections": {
+      "open": true
+    },
+    "visible": true
+  }
+}

src/main/java/frc/robot/commands/IntakeBaseCommand.java

@@ -1,20 +1,38 @@
 package frc.robot.commands;
 
+import java.util.Map;
 import java.util.function.BooleanSupplier;
 
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.intake.IntakeBase;
 
 public class IntakeBaseCommand extends Command {
     IntakeBase intake;
     BooleanSupplier inEnable;
-    BooleanSupplier outEnable; 
+    GenericEntry voltsEntry;
+    ShuffleboardTab tab;
+    BooleanSupplier outEnable;
+
     public IntakeBaseCommand(IntakeBase intake, BooleanSupplier inEnable, BooleanSupplier outEnable) {
         this.intake = intake;
         this.inEnable = inEnable;
-        this.outEnable = inEnable;
+        this.outEnable = outEnable;
 
         addRequirements(intake);
+         tab = Shuffleboard.getTab("Intake");
+    // Create volt entry under Shooter tab as a number sider with min = -1 and max = 1
+    voltsEntry =
+        tab.add("Volts", 0)
+            .withWidget(BuiltInWidgets.kNumberSlider)
+            .withProperties(Map.of("min", 0, "max", 12))
+            .getEntry();
+    voltsEntry.setValue(0.0);
+
+
     }
     @Override
     public void initialize() {
@@ -24,6 +42,7 @@ public void initialize() {
 
     @Override
     public void execute() {
+
         // Turns off motors if No/All bumpers
         if (inEnable.getAsBoolean() == true && outEnable.getAsBoolean() == true) {
             // Disable the intake motors
@@ -33,13 +52,13 @@ public void execute() {
             intake.disable();
             //System.out.println(outEnable.getAsBoolean());
         } else if (inEnable.getAsBoolean() == true) { // Motors on (IN) if right bumper pressed
-            intake.setVoltage(1);
+            intake.setVoltage(voltsEntry.getDouble(0.0));
             System.out.println(outEnable.getAsBoolean());
 
             // Enable motors, It has to be called regularly for voltage compensation to work properly
             intake.enable();
         } else if (outEnable.getAsBoolean()== true) { // Motors on (Out) if right bumper pressed
-            intake.setVoltage(-1);
+            intake.setVoltage(voltsEntry.getDouble(0.0) * -1);
             System.out.println(outEnable.getAsBoolean());
             // Enable motors, It has to be called regularly for voltage compensation to work properly
             intake.enable();

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

@@ -18,13 +18,16 @@ public IntakeBase(IntakeIO IO) {
     }
 
     @Override
+    //disable the intake
     public void disable() {
         voltage = 0;
         IO.setVoltage(voltage);
     }
 
     @Override
+    //Enabling the intake
     public void enable() {
+        //voltage = 1;
         IO.setVoltage(voltage);
     }