I worked on getting the bumper inputs to properly work for each input.

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

@@ -4,19 +4,21 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.XboxController;
+//import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.IntakeBaseCommand;
 import frc.robot.subsystems.intake.IntakeBase;
+import frc.robot.subsystems.intake.IntakeIOSim;
 
 public class RobotContainer {
-  public final XboxController controller;
+  private final CommandXboxController controller;// = new CommandXboxController(0);
   public final IntakeBase intake;
 
   public RobotContainer() {
-    controller = new XboxController(0);
-
+    controller = new CommandXboxController(0);
+    
     boolean swerveBot = false;
     boolean tankBot = false;
 
@@ -25,14 +27,14 @@ public RobotContainer() {
     } else if (tankBot) {
       intake = null;
     } else {
-      intake = new IntakeBase();
+      intake = new IntakeBase(new IntakeIOSim());
     }
 
     configureBindings();
   }
 
   private void configureBindings() {
-    intake.setDefaultCommand(new IntakeBaseCommand(intake, () -> controller.getRightBumper(), () -> controller.getLeftBumper() ));
+    intake.setDefaultCommand(new IntakeBaseCommand(intake, () -> controller.rightBumper().getAsBoolean(), () -> controller.leftBumper().getAsBoolean() ));
   }
 
   public Command getAutonomousCommand() {

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

@@ -7,12 +7,12 @@
 
 public class IntakeBaseCommand extends Command {
     IntakeBase intake;
-    BooleanSupplier rightBumper;
-    BooleanSupplier leftBumper; 
-    public IntakeBaseCommand(IntakeBase intake, BooleanSupplier rightBumper, BooleanSupplier leftBumper) {
+    BooleanSupplier inEnable;
+    BooleanSupplier outEnable; 
+    public IntakeBaseCommand(IntakeBase intake, BooleanSupplier inEnable, BooleanSupplier outEnable) {
         this.intake = intake;
-        this.rightBumper = rightBumper;
-        this.leftBumper = leftBumper;
+        this.inEnable = inEnable;
+        this.outEnable = inEnable;
 
         addRequirements(intake);
     }
@@ -25,22 +25,27 @@ public void initialize() {
     @Override
     public void execute() {
         // Turns off motors if No/All bumpers
-        if ((rightBumper.getAsBoolean() && leftBumper.getAsBoolean()) || (rightBumper.getAsBoolean() == false && leftBumper.getAsBoolean() == false)) {
+        if (inEnable.getAsBoolean() == true && outEnable.getAsBoolean() == true) {
             // Disable the intake motors
             intake.disable();
-
-        } else if (rightBumper.getAsBoolean()) { // Motors on (IN) if right bumper pressed
-            intake.setSpeed(1);
+            //System.out.println(outEnable.getAsBoolean());
+        } else if(inEnable.getAsBoolean() == false && outEnable.getAsBoolean() == false) {
+            intake.disable();
+            //System.out.println(outEnable.getAsBoolean());
+        } else if (inEnable.getAsBoolean() == true) { // Motors on (IN) if right bumper pressed
+            intake.setVoltage(1);
+            System.out.println(outEnable.getAsBoolean());
 
             // 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);
-
+        } else if (outEnable.getAsBoolean()== true) { // Motors on (Out) if right bumper pressed
+            intake.setVoltage(-1);
+            System.out.println(outEnable.getAsBoolean());
             // Enable motors, It has to be called regularly for voltage compensation to work properly
             intake.enable();
         } else { // Disable the intake motors
             intake.disable();
         }
+        //System.out.println(outEnable.getAsBoolean());
     }
 }

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

@@ -11,10 +11,6 @@ public default void disable() {}
    */
   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) {}
+
+  public default void setVoltage(double volts) {}
 }

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

@@ -1,33 +1,40 @@
 package frc.robot.subsystems.intake;
 
-import edu.wpi.first.wpilibj.motorcontrol.MotorController;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import org.littletonrobotics.junction.Logger;
+
+//import frc.robot.subsystems.intake.IntakeIO;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class IntakeBase extends SubsystemBase implements Intake {
-    private final MotorController IntakeMotor;
-
+    private final IntakeIO IO;
+    private final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged();
     private double voltage;
 
-    public IntakeBase() {
-        IntakeMotor = new Spark(0);
+    public IntakeBase(IntakeIO IO) {
+
+        this.IO = IO; 
+
         voltage = 0;
     }
 
     @Override
     public void disable() {
         voltage = 0;
-        IntakeMotor.setVoltage(voltage);
+        IO.setVoltage(voltage);
     }
 
     @Override
     public void enable() {
-        IntakeMotor.setVoltage(voltage);
+        IO.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;
+    public void setVoltage(double volts) {
+        voltage = volts;
+    }
+    @Override
+    public void periodic() {
+        IO.updateInputs(inputs);
+        Logger.processInputs("Intake", inputs);
     }
 }

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

@@ -0,0 +1,18 @@
+package frc.robot.subsystems.intake;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface IntakeIO {
+  @AutoLog
+  public static class IntakeIOInputs {
+    public double velocityRadPerSec = 0.0;
+    public double appliedVolts = 0.0;
+  }
+
+  /** Updates the set of loggable inputs. */
+  public default void updateInputs(IntakeIOInputs inputs) {}
+
+  /** Run open loop at the specified voltage. */
+  public default void setVoltage(double volts) {}
+}
+

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

@@ -0,0 +1,36 @@
+package frc.robot.subsystems.intake;
+
+//import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+
+public class IntakeIOSim implements IntakeIO{
+    private FlywheelSim sim = new FlywheelSim(DCMotor.getNEO(1), 1.5, 0.004);
+    private double appliedVolts = 0.0;
+
+    @Override
+  public void updateInputs(IntakeIOInputs inputs) {
+
+
+    sim.update(0.02);
+
+    //inputs.positionRad = 0.0;
+    inputs.velocityRadPerSec = sim.getAngularVelocityRadPerSec();
+    inputs.appliedVolts = appliedVolts;
+    //inputs.currentAmps = new double[] {sim.getCurrentDrawAmps()};
+
+
+
+  }
+
+    @Override
+    public void setVoltage(double volts) {
+    appliedVolts = volts;
+    sim.setInputVoltage(volts);
+  }
+
+
+
+
+}
+