intake_subsystem.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <ctre/phoenix/motorcontrol/can/TalonSRX.h>
#include <frc2/command/SubsystemBase.h>
 
class IntakeSubsystem : public frc2::SubsystemBase {
 public:
  explicit IntakeSubsystem(argos_lib::RobotInstance robotInstance);
 
  void Periodic() override;
 
  void Intake(double speed);
 
  void Disable();
 
  [[nodiscard]] bool IsNotePresent();
 
  void NoteDetectionOverride(bool override);
 
 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  ctre::phoenix::motorcontrol::can::TalonSRX m_primaryMotor;
  ctre::phoenix::motorcontrol::can::TalonSRX m_secondaryMotor;
  argos_lib::RobotInstance m_robotInstance;
};