From 2814a5b44236f79b964960e66f308cfbd89435a3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E2=80=AEZach=20Wilke?=
 <90875734+76842@users.noreply.github.com>
Date: Tue, 25 Jan 2022 17:58:23 -0700
Subject: [PATCH] S T O R A G E

---
 src/main/java/frc4388/robot/Constants.java    |  5 +++
 .../frc4388/robot/subsystems/Serializer.java  |  3 --
 .../frc4388/robot/subsystems/Storage.java     | 39 +++++++++++++++++++
 3 files changed, 44 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/subsystems/Storage.java

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 3651898..23afeef 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -81,6 +81,11 @@ public final class Constants {
     public static final int INTAKE_MOTOR = 3;
     public static final int EXTENDER_MOTOR = 6;
   }
+  public static final class StorageConstants {
+    public static final int STORAGE_CAN_ID = -1; //TODO
+    public static final int BEAM_SENSOR_SHOOTER = -1; //TODO
+    public static final int BEAM_SENSOR_INTAKE = -1; //TODO
+  }
   public static final class LEDConstants {
     public static final int LED_SPARK_ID = 0;
 
diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java
index 8ef9612..2d76887 100644
--- a/src/main/java/frc4388/robot/subsystems/Serializer.java
+++ b/src/main/java/frc4388/robot/subsystems/Serializer.java
@@ -32,17 +32,14 @@ public class Serializer extends SubsystemBase{
     setSerializerState(total);
   }
   public void setSerializerState(boolean state) {
-    System.out.println(state);
     setSerializerBeltState(state);
     setSerializerShooterBeltState(state);
     serializerState = state;
   }
 
   public void setSerializerBeltState(boolean state) {
-    System.out.println("oi");
     double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
     m_serializerBelt.set(serializerBeltSpeed);
-    System.out.println("oi2");
   }
 
   public void setSerializerShooterBeltState(boolean state) {
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
new file mode 100644
index 0000000..fa03e2e
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import edu.wpi.first.wpilibj.DigitalInput;
+import frc4388.robot.Constants.StorageConstants;
+
+public class Storage extends SubsystemBase {
+  public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
+  private DigitalInput m_beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
+  private DigitalInput m_beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
+
+  /** Creates a new Storage. */
+  public Storage() {
+
+  }
+
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+  }
+
+  public boolean getBeamShooter(){
+    return m_beamShooter.get();
+  }
+
+  public boolean getBeamIntake(){
+    return m_beamIntake.get();
+  }
+  
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}