IntakeBase subsytem and command

src/main/java/frc/robot/RobotContainer.java

@@ -4,15 +4,36 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.commands.IntakeBaseCommand;
+import frc.robot.subsystems.intake.IntakeBase;
 
 public class RobotContainer {
+  public final XboxController controller;
+  public final IntakeBase intake;
+
   public RobotContainer() {
+    controller = new XboxController(0);
+
+    boolean swerveBot = false;
+    boolean tankBot = false;
+
+    if (swerveBot) {
+      intake = null;
+    } else if (tankBot) {
+      intake = null;
+    } else {
+      intake = new IntakeBase();
+    }
+
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    intake.setDefaultCommand(new IntakeBaseCommand(intake, () -> controller.getRightBumper(), () -> controller.getLeftBumper() ));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

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

@@ -0,0 +1,46 @@
+package frc.robot.commands;
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.intake.IntakeBase;
+
+public class IntakeBaseCommand extends Command {
+    IntakeBase intake;
+    BooleanSupplier rightBumper;
+    BooleanSupplier leftBumper; 
+    public IntakeBaseCommand(IntakeBase intake, BooleanSupplier rightBumper, BooleanSupplier leftBumper) {
+        this.intake = intake;
+        this.rightBumper = rightBumper;
+        this.leftBumper = leftBumper;
+
+        addRequirements(intake);
+    }
+    @Override
+    public void initialize() {
+        intake.disable();
+    }
+
+
+    @Override
+    public void execute() {
+        // Turns off motors if No/All bumpers
+        if ((rightBumper.getAsBoolean() && leftBumper.getAsBoolean()) || (rightBumper.getAsBoolean() == false && leftBumper.getAsBoolean() == false)) {
+            // Disable the intake motors
+            intake.disable();
+
+        } else if (rightBumper.getAsBoolean()) { // Motors on (IN) if right bumper pressed
+            intake.setSpeed(1);
+
+            // Enable motors, It has to be called regularly for voltage compensation to work properly
+            intake.enable();
+        } else if (leftBumper.getAsBoolean()) { // Motors on (Out) if right bumper pressed
+            intake.setSpeed(-1);
+
+            // Enable motors, It has to be called regularly for voltage compensation to work properly
+            intake.enable();
+        } else { // Disable the intake motors
+            intake.disable();
+        }
+    }
+}

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

@@ -0,0 +1,20 @@
+package frc.robot.subsystems.intake;
+
+public interface Intake {
+   /**
+   * Disable the speed of the motor for the intake.
+   */
+  public default void disable() {}
+
+  /**
+   * Enable the speed of the motor for the intake.
+   */
+  public default void enable() {}
+
+  /**
+   * Set the speed of the motor for the intake.
+   *
+   * @param speed The speed to set. Value should be between -1.0 and 1.0.
+   */
+  public default void setSpeed(double speed) {}
+}

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

@@ -0,0 +1,33 @@
+package frc.robot.subsystems.intake;
+
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class IntakeBase extends SubsystemBase implements Intake {
+    private final MotorController IntakeMotor;
+
+    private double voltage;
+
+    public IntakeBase() {
+        IntakeMotor = new Spark(0);
+        voltage = 0;
+    }
+
+    @Override
+    public void disable() {
+        voltage = 0;
+        IntakeMotor.setVoltage(voltage);
+    }
+
+    @Override
+    public void enable() {
+        IntakeMotor.setVoltage(voltage);
+    }
+
+    @Override
+    //Sets the voltage to 5.0 times speed. the speed value is -1 1
+    public void setSpeed(double speed) {
+        voltage = 5.0 * speed;
+    }
+}