IntakeIOSparkMax

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

@@ -0,0 +1,37 @@
+package frc.robot.subsystems.intake;
+
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import edu.wpi.first.math.util.Units;
+
+public class IntakeIOSparkMax implements IntakeIO {
+  private static final double GEAR_RATIO = 10.0;
+
+  // define the 2 SparkMax Controllers. A leader, and a follower
+  private final CANSparkMax leader = new CANSparkMax(0, MotorType.kBrushless);
+
+  // Gets the NEO encoder
+  private final RelativeEncoder encoder = leader.getEncoder();
+
+  public IntakeIOSparkMax() {
+    // leader motor is not inverted, and set follower motor to follow the leader
+    leader.setInverted(false);
+  }
+
+  @Override
+  public void updateInputs(IntakeIOInputs inputs) {
+    // Set velocityRadPerSec to the encoder velocity(rotationsPerMinute) divided by the gear ratio
+    // and converted into Radians Per Second
+    inputs.velocityRadPerSec =
+        Units.rotationsPerMinuteToRadiansPerSecond(encoder.getVelocity() / GEAR_RATIO);
+    // Get applied voltage from the leader motor
+    inputs.appliedVolts = leader.getAppliedOutput() * leader.getBusVoltage();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    // Set the voltage output for the leader motor
+    leader.setVoltage(volts);
+  }
+}