From cc4a38eb5ef1abf6792c5ccfd2081d6c419e4230 Mon Sep 17 00:00:00 2001
From: Nick <ngarnsworthy@gmail.com>
Date: Thu, 23 Oct 2025 18:37:44 -0500
Subject: [PATCH 1/2] Added Intake Subsystem

---
 .../ftc/teamcode/PrimaryOpMode.java           |  6 ++++
 .../ftc/teamcode/commands/RunIntake.java      | 34 +++++++++++++++++++
 .../ftc/teamcode/subsystems/Intake.java       | 23 +++++++++++++
 3 files changed, 63 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PrimaryOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PrimaryOpMode.java
index 33347058d842..e2ce412f609a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PrimaryOpMode.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PrimaryOpMode.java
@@ -8,7 +8,9 @@
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import org.firstinspires.ftc.teamcode.commands.RunIntake;
 import org.firstinspires.ftc.teamcode.commands.RunShooter;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
 import org.firstinspires.ftc.teamcode.subsystems.Shooter;
 
 @TeleOp(name = "PrimaryOpMode", group= "NormalOpModes")
@@ -16,6 +18,7 @@ public class PrimaryOpMode extends OpMode {
     private Motor fL, fR, bL, bR;
     private MecanumDrive drive;
     private Shooter shooter;
+    private Intake intake;
     private GamepadEx driverOp;
 
     private GamepadEx coOp;
@@ -33,7 +36,10 @@ public void init() {
 
         shooter = new Shooter(hardwareMap, "shooterMotor");
 
+        intake = new Intake(hardwareMap, "intakeMotor");
+
         coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(new RunShooter(shooter, 1));
+        coOp.getGamepadButton(GamepadKeys.Button.B).whileHeld(new RunIntake(intake, 0.5));
     }
 
     @Override
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
new file mode 100644
index 000000000000..bfc39e9fbd0b
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
@@ -0,0 +1,34 @@
+package org.firstinspires.ftc.teamcode.commands;
+
+import com.arcrobotics.ftclib.command.CommandBase;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+
+public class RunIntake extends CommandBase {
+
+    private Intake subsystem;
+
+    private double speed;
+
+    public RunIntake(Intake _subsystem, double _speed) {
+        subsystem = _subsystem;
+        addRequirements(subsystem);
+        speed = _speed;
+    }
+
+    @Override
+    public void initialize() {
+        subsystem.run(speed);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        subsystem.stop();
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java
new file mode 100644
index 000000000000..c02fc5ce1144
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java
@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.arcrobotics.ftclib.command.SubsystemBase;
+import com.arcrobotics.ftclib.hardware.motors.Motor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Intake extends SubsystemBase {
+    private Motor intakeMotor;
+
+    public Intake(HardwareMap map, String motorName) {
+        intakeMotor = new Motor(map, motorName);
+        intakeMotor.setRunMode(Motor.RunMode.RawPower);
+    }
+
+    public void run(double speed) {
+        double clampedSpeed = Math.max(-1.0, Math.min(1.0, speed));
+        intakeMotor.set(clampedSpeed);
+    }
+
+    public void stop() {
+        intakeMotor.stopMotor();
+    }
+}

From 4764a73cc5b582d200200f20cc5636d20345f135 Mon Sep 17 00:00:00 2001
From: Nicholas Garnsworthy <ngarnsworthy@gmail.com>
Date: Sat, 25 Oct 2025 10:25:03 -0500
Subject: [PATCH 2/2] Remove isFinished method from RunIntake

Removed isFinished method from RunIntake command as it is default
---
 .../org/firstinspires/ftc/teamcode/commands/RunIntake.java   | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
index bfc39e9fbd0b..ac19f45ca52c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunIntake.java
@@ -22,11 +22,6 @@ public void initialize() {
         subsystem.run(speed);
     }
 
-    @Override
-    public boolean isFinished() {
-        return false;
-    }
-
     @Override
     public void end(boolean interrupted) {
         subsystem.stop();