Add Basic Storage Code

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.StorageConstants;
+
+public class Storage extends SubsystemBase {
+  private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_TALON_ID, MotorType.kBrushless);
+  private DigitalInput[] m_beamSensors = new DigitalInput[6];
+  /**
+   * Creates a new Storage.
+   */
+  public Storage() {
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5);
+  }
+
+  @Override
+  public void periodic() {
+    // NO
+  }
+
+  /**
+   * Runs storage motor
+   * @param input the voltage to run motor at
+   */
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+    boolean beam_on = m_beamSensors[0].get();
+  }
+}