extending and retracting buttons

x and y using percenoutput

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -31,6 +31,8 @@ public class Intake extends SubsystemBase {
     public enum IntakeMode {
         Extended,
         Retracted,
+        Extending,
+        Retracting
     }
 
     private IntakeMode mode = IntakeMode.Extended;
@@ -82,6 +84,12 @@ public class Intake extends SubsystemBase {
                 }
                 io.setRollerVelocity(state, RotationsPerSecond.of(0));
                 break;
+            case Extending:
+                io.armExtend(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
+                break;
+            case Retracting:
+                io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
+                break;
         }
 
     }

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -16,6 +16,7 @@ public class IntakeConstants {
     public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
 
 
+
     //IDs
 
     public static final CanDevice ARM_ID   = new CanDevice("ARM", 20);
@@ -33,7 +34,8 @@ public class IntakeConstants {
 
     public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3*0);
     public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
-    
+    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.1);
+    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.1);
     public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
     // public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
 

src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java

@@ -35,7 +35,8 @@ public interface IntakeIO {
     public default void setArmAngle(IntakeState state, Angle angle) {}
     public default void stopArm() {}
     public default void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {}
-
+    public default void armExtend(double percentOutput) {}
+    public default void armRetract(double percentOutput) {}
     public default void updateInputs(IntakeState state) {}
     public default void updateGains() {}
 }

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -82,6 +82,15 @@ public class IntakeReal implements IntakeIO {
     public void stopArm(){
         m_armMotor.set(0);
     }
+    @Override
+    public void armExtend(double percentOutput){
+        m_armMotor.set(percentOutput);
+    }
+
+    @Override
+        public void armRetract(double percentOutput){
+        m_armMotor.set(percentOutput);
+    }
 
     @Override
     public void updateInputs(IntakeState state) {