From fbb95c072418a779c8086baf43c1766723307e4b Mon Sep 17 00:00:00 2001
From: Sachet Korada <sachet.korada@gmail.com>
Date: Tue, 19 Nov 2024 20:08:40 -0500
Subject: [PATCH] basic subsystems

---
 .idea/misc.xml                                      |  2 +-
 .../ftc/teamcode/commands/drive/DriveCommand.kt     | 13 ++++++-------
 .../teamcode/subsystems/intake/IntakeSubsystem.kt   | 11 ++++++++++-
 3 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/.idea/misc.xml b/.idea/misc.xml
index 3b0be22..74dd639 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ExternalStorageConfigurationManager" enabled="true" />
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" project-jdk-name="jbr-21" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="jbr-21" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="ProjectType">
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/DriveCommand.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/DriveCommand.kt
index 3a64ebc..bdba1b3 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/DriveCommand.kt
+++ b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/commands/drive/DriveCommand.kt
@@ -2,14 +2,13 @@ package org.firstinspires.ftc.teamcode.commands.drive
 
 import com.arcrobotics.ftclib.command.CommandBase
 import org.firstinspires.ftc.teamcode.subsystems.drive.DriveSubsystem
-import java.util.function.DoubleSupplier
 import kotlin.math.pow
 
 class DriveCommand(
     private val subsystem: DriveSubsystem,
-    private val leftX: DoubleSupplier,
-    private val leftY: DoubleSupplier,
-    private val rightX: DoubleSupplier,
+    private val leftX: () -> Double,
+    private val leftY: () -> Double,
+    private val rightX: () -> Double,
     private val zoneVal: Double,
 ) : CommandBase() {
     init {
@@ -18,9 +17,9 @@ class DriveCommand(
 
     override fun execute() {
         subsystem.drive(
-            leftY = zonedDrive(-leftY.asDouble, zoneVal).pow(3),
-            leftX = zonedDrive(leftX.asDouble, zoneVal).pow(3),
-            rightX = zonedDrive(rightX.asDouble, zoneVal).pow(3),
+            leftY = zonedDrive(-leftY.invoke(), zoneVal).pow(3),
+            leftX = zonedDrive(leftX.invoke(), zoneVal).pow(3),
+            rightX = zonedDrive(rightX.invoke(), zoneVal).pow(3),
         )
     }
 
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt
index 0d01382..3772401 100644
--- a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt
+++ b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/intake/IntakeSubsystem.kt
@@ -1,5 +1,14 @@
 package org.firstinspires.ftc.teamcode.subsystems.intake
 
 import com.arcrobotics.ftclib.command.SubsystemBase
+import com.arcrobotics.ftclib.hardware.motors.CRServo
 
-class IntakeSubsystem : SubsystemBase()
\ No newline at end of file
+class IntakeSubsystem(
+    private val intake: CRServo
+) : SubsystemBase() {
+    fun intake() = intake.set(1.0)
+
+    fun outtake() = intake.set(-1.0)
+
+    fun stop() = intake.stop()
+}
\ No newline at end of file