Intake

src/main/java/frc/robot/Robot.java

@@ -15,6 +15,7 @@ public class Robot extends TimedRobot {
 
   public Robot() {
     m_robotContainer = new RobotContainer();
+    m_compressor.enableAnalog(90, 100);
   }
 
   @Override
@@ -30,7 +31,7 @@ public void disabledPeriodic() {}
 
   @Override
   public void disabledExit() {}
-
+//si
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();

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

@@ -13,23 +13,30 @@
 import frc.robot.subsystems.DrivetrainSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.commands.IntakeSetCmd;
 
 public class RobotContainer {
 
   private final Joystick stick1 = new Joystick(0);
   private final Joystick stick2 = new Joystick(1);
+  private final Joystick stick3 = new Joystick(2);
 
   private final DrivetrainSubsystem drivetrainSubsystem = new DrivetrainSubsystem();
   private final DrivetrainDriveCommand drivetrainDriveCommand = new DrivetrainDriveCommand(drivetrainSubsystem, stick1);
   private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
   private final ShooterToggleCommand shooterToggleCommand = new ShooterToggleCommand(shooterSubsystem, stick2);
+  private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
+
 
   public RobotContainer() {
     configureBindings();
   }
   private void configureBindings() {
     CommandScheduler.getInstance().setDefaultCommand(drivetrainSubsystem, drivetrainDriveCommand);
     new JoystickButton(stick2, 1).onTrue(shooterToggleCommand);
+    new JoystickButton(stick3, 1).whileTrue(new IntakeSetCmd(intakeSubsystem, true));
+    new JoystickButton(stick3, 2).whileTrue(new IntakeSetCmd(intakeSubsystem, false));
   }
 
   public Command getAutonomousCommand() {

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

@@ -0,0 +1,39 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.IntakeSubsystem;
+
+public class IntakeSetCmd extends CommandBase {
+    private final Joystick stick;
+
+    private final IntakeSubsystem intakeSubsystem;
+    private final boolean open;
+
+    public IntakeSetCmd(IntakeSubsystem intakeSubsystem, boolean open) {
+        this.open = open;
+        this.intakeSubsystem = intakeSubsystem;
+        addRequirements(intakeSubsystem);
+    }
+
+    @Override
+    public void initialize() {
+        System.out.println("Intake has started");
+    }
+
+    @Override
+    public void execute() {
+        intakeSubsystem.setPosition(open);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        intakeSubsystem.stop(); 
+        System.out.println("Intake has ended");
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+
+}

src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java

@@ -17,6 +17,7 @@ public class DrivetrainSubsystem extends SubsystemBase{
     private final SparkMax rightBack = new SparkMax(98, MotorType.kBrushless);
     private final SparkMax leftFront = new SparkMax(97, MotorType.kBrushless);
     private final SparkMax leftBack = new SparkMax(96, MotorType.kBrushless);
+    private final Compressor m_compressor = new Compressor(1, PneumaticsModuleType.REVPH);
 
     private final DifferentialDrive drive = new DifferentialDrive(rightFront, leftFront);
     public DrivetrainSubsystem() {

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

@@ -0,0 +1,66 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.IntakeConstants;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticHub;
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
+
+public class IntakeSubsystem extends SubsystemBase {
+    //Stablishment of Constant for code
+    public static final class Constants {
+        public static final double kOpenSpeed = 0.7; 
+        public static final double kCloseSpeed = -0.7;
+        public static final int kLeftMotorPort = 5;
+        public static final int kRightMotorPort = 6;
+        public static final int kPneumaticHubID = 5;
+        public static final int kPneumaticHubID = 5;
+        public static final int kSolenoidChannelForward = 0;
+        public static final int kSolenoidChannelReverse = 1;
+    }
+
+    //Intake Main Properties
+    private final PneumaticHub m_pneumaticHub = new PneumaticHub(5);
+    private Spark intakeLeftMotor = new Spark(5);
+    private Spark intakeRightMotor = new Spark(6);
+    private final Compressor m_compressor = new Compressor(5, PneumaticsModuleType.REVPH);
+    private final DoubleSolenoid IntakeDoubleSolenoid = new DoubleSolenoid(
+        Constants.kPneumaticHubID, 
+        PneumaticsModuleType.REVPH, 
+        Constants.kForwardChannel, 
+        Constants.kReverseChannel
+    );
+
+    public IntakeSubsystem() {
+        m_compressor.enableAnalog(90, 120);
+        IntakeDoubleSolenoid.set(DoubleSolenoid.Value.kOff);
+    }
+
+    @Override
+    public void periodic() {
+    }
+
+    //Intake Functions (open or close)
+    public void setPosition(boolean open) {
+        if (open) {
+            intakeLeftMotor.set(IntakeConstants.kOpenSpeed);
+            intakeRightMotor.set(IntakeConstants.kOpenSpeed);
+            intakeDoubleSolenoid.set(DoubleSolenoid.Value.kForward);
+        } else {
+            intakeLeftMotor.set(IntakeConstants.kCloseSpeed);
+            intakeRightMotor.set(IntakeConstants.kCloseSpeed);
+            intakeDoubleSolenoid.set(DoubleSolenoid.Value.kReverse);
+        }
+    }
+
+    //Intake Stop
+    public void stop() {
+    intakeLeftMotor.set(0);
+    intakeRightMotor.set(0);
+    }
+}

src/main/java/frc/robot/subsystems/IntakeTest.java

@@ -0,0 +1,82 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PneumaticHub;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+public class Robot extends TimedRobot {
+
+  private final PneumaticHub m_pneumaticHub = new PneumaticHub(5);
+
+  private final Compressor m_compressor =
+      new Compressor(5, PneumaticsModuleType.REVPH);
+
+  private final DoubleSolenoid m_doubleSolenoid =
+      new DoubleSolenoid(
+          5,
+          PneumaticsModuleType.REVPH,
+          0,
+          1
+      );
+
+  // ✅ Stick en lugar de XboxController
+  private final Joystick m_stick = new Joystick(0);
+
+  public Robot() {
+    // ✅ Compresor controlado SOLO por pressure switch digital
+    m_compressor.enableAnalog(90, 100);
+  }
+
+  @Override
+  public void robotPeriodic() {
+
+    // ✅ SOLO sensor digital (pin 0 del PH)
+    boolean pressureSwitch = m_pneumaticHub.getPressureSwitch();
+    double current = m_pneumaticHub.getCompressorCurrent();
+    boolean compressorRunning = m_compressor.isEnabled();
+
+    DoubleSolenoid.Value pistonState = m_doubleSolenoid.get();
+    String pistonStatus;
+
+    if (pistonState == DoubleSolenoid.Value.kForward) {
+      pistonStatus = "EXTENDIDO";
+    } else if (pistonState == DoubleSolenoid.Value.kReverse) {
+      pistonStatus = "RETRAÍDO";
+    } else {
+      pistonStatus = "APAGADO";
+    }
+
+    System.out.println("=== Sistema Neumático (Digital) ===");
+    System.out.println("Pressure Switch (DIO 0): " +
+        (pressureSwitch ? "ACTIVADO" : "DESACTIVADO"));
+    System.out.println("Corriente del Compresor: " +
+        String.format("%.2f", current) + " A");
+    System.out.println("Compresor Habilitado: " +
+        (compressorRunning ? "SÍ" : "NO"));
+    System.out.println("Estado del Pistón: " + pistonStatus);
+    System.out.println("==================================\n");
+  }
+
+  @Override
+  public void teleopInit() {
+    m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // ✅ Botón 1 del stick
+    if (m_stick.getRawButton(1)) {
+      m_doubleSolenoid.set(DoubleSolenoid.Value.kForward);
+    } else {
+      m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
+    }
+  }
+
+  @Override
+  public void disabledInit() {
+    m_doubleSolenoid.set(DoubleSolenoid.Value.kOff);
+  }
+}