IntakeAdvantageKit

build.gradle

@@ -1,6 +1,7 @@
+
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.25.0"
     id "pmd"
@@ -66,16 +67,16 @@ wpi.java.debugJni = false
 def includeDesktopSupport = true
 
 // Configuration for AdvantageKit
-// repositories {
-//     maven {
-//         url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
-//         credentials {
-//             username = "Mechanical-Advantage-Bot"
-//             password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
-//         }
-//     }
-//     mavenLocal()
-// }
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
 
 // task(replayWatch, type: JavaExec) {
 //     mainClass = "org.littletonrobotics.junction.ReplayWatch"
@@ -108,8 +109,8 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
-    // def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
-    // annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
 test {

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

@@ -1,5 +1,5 @@
 package frc.robot.subsystems.intake;
 
 public final class IntakeConstants {
-
+    public static final int intakeMotorID = 0;
 }

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

@@ -6,17 +6,17 @@ public interface IntakeInterface {
     @AutoLog
     public static class IntakeInputs {
         public boolean isConnected = true;
-        public double intakeSpeed = 0.0;
+        public double intakeVelocity = 0.0;
         public double intakeTemp = 0.0;
         public double appliedVolts = 0.0;
         public double currentAmps = 0.0;
     }
 
     default void updateInputs(IntakeInputs inputs){}
 
-    default void setSpeed(double speed){}
+    default void setIntakeSpeed(double speed){}
 
-    default double getSpeed(){
+    default double getIntakeSpeed(){
         return 0.0;
     }
 }

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

@@ -7,20 +7,18 @@
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.subsystems.intake.IntakeInterface.IntakeInputs;
 
 public class IntakeSubsystem extends SubsystemBase {
   private IntakeInterface intakeInterface;
-  private IntakeInputs inputs = new IntakeInputs();
+  private IntakeInputsAutoLogged inputs = new IntakeInputsAutoLogged();
 
   public IntakeSubsystem(IntakeInterface intakeInterface) {
     this.intakeInterface = intakeInterface;
   }
 
-  public void setSpeed(double speed){
-    intakeInterface.setSpeed(speed);
+  public void setIntakeSpeed(double speed) {
+    intakeInterface.setIntakeSpeed(speed);
   }
-
   @Override
   public void periodic(){
     intakeInterface.updateInputs(inputs);

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

@@ -4,16 +4,42 @@
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 
 import edu.wpi.first.units.measure.AngularVelocity;
+import frc.robot.Constants.HardwareConstants;
 
 public class PhysicalIntake implements IntakeInterface{
-    private final TalonFX motor = new TalonFX(0);
-    private final StatusSignal<AngularVelocity> intakeSpeed;
+    private final TalonFX motor = new TalonFX(IntakeConstants.intakeMotorID);
+    private final StatusSignal<AngularVelocity> intakeVelocity = motor.getVelocity();
     private final TalonFXConfiguration intakeConfig = new TalonFXConfiguration();
 
     public PhysicalIntake(){
         intakeConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
-
+        intakeConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+        intakeConfig.MotorOutput.DutyCycleNeutralDeadband = HardwareConstants.MIN_FALCON_DEADBAND;
+
+        intakeConfig.CurrentLimits.StatorCurrentLimit = 0.0;
+        intakeConfig.CurrentLimits.StatorCurrentLimitEnable = true;
+        intakeConfig.CurrentLimits.SupplyCurrentLimit = 0.0;
+        intakeConfig.CurrentLimits.StatorCurrentLimitEnable = true;
+
+        motor.getConfigurator().apply(intakeConfig);
+    }
+
+    @Override
+    public void updateInputs(IntakeInputs intakeInputs){
+        intakeInputs.intakeVelocity = intakeVelocity.getValueAsDouble();
+    }
+
+    @Override
+    public void setIntakeSpeed(double speed){
+        motor.set(speed);
+    }
+
+    @Override
+    public double getIntakeSpeed(){
+        motor.getVelocity().refresh();
+        return motor.getVelocity().getValueAsDouble();
     }
 }

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

@@ -0,0 +1,32 @@
+package frc.robot.subsystems.intake;
+
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+public class SimulatedIntake implements IntakeInterface{
+    DCMotorSim simIntake = new DCMotorSim(LinearSystemId.createDCMotorSystem(
+        DCMotor.getFalcon500(1), 0.01, 1), 
+        DCMotor.getFalcon500(1), 0);
+
+    private double intakeAppliedVolts = 0.0;
+
+    public SimulatedIntake(){}
+
+    @Override
+    public void updateInputs(IntakeInputs intakeInputs){
+        simIntake.update(0.02);
+
+        intakeInputs.intakeVelocity = RadiansPerSecond.of(simIntake.getAngularVelocityRadPerSec()).in(RotationsPerSecond);
+        intakeInputs.currentAmps = simIntake.getCurrentDrawAmps();
+        intakeInputs.appliedVolts = intakeAppliedVolts;
+    }
+
+    @Override
+    public double getIntakeSpeed(){
+        return RadiansPerSecond.of(simIntake.getAngularVelocityRadPerSec()).in(RotationsPerSecond);
+    }
+}

src/main/java/frc/robot/subsystems/swerve/SwerveModule.java

@@ -77,10 +77,6 @@ public double getTurnVelocity() {
     return inputs.turnVelocity;
   }
 
-  public double xthing() {
-    return inputs.Angle
-  }
-
   /** Returns the current drive position of the module in meters. */
   public double getDrivePositionMeters() {
     return ModuleConstants.WHEEL_CIRCUMFERENCE_METERS * inputs.drivePosition;