Added RunExtenderOutIn command and defined extender motor

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

@@ -7,7 +7,10 @@
 
 package frc4388.robot.subsystems;
 
+import com.revrobotics.CANDigitalInput;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.Spark;
@@ -16,13 +19,26 @@ import frc4388.robot.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {
   CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
-  
+  CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_extenderForwardLimit;
+  CANDigitalInput m_extenderReverseLimit;
+
   /**
    * Creates a new Intake.
    */
   public Intake() {
-    
+    m_intakeMotor.restoreFactoryDefaults();
+    m_extenderMotor.restoreFactoryDefaults();
+
+    m_intakeMotor.setIdleMode(IdleMode.kCoast);
+    m_extenderMotor.setIdleMode(IdleMode.kBrake);
     m_intakeMotor.setInverted(false);
+    m_extenderMotor.setInverted(false);
+    
+    m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderForwardLimit.enableLimitSwitch(false);
+    m_extenderReverseLimit.enableLimitSwitch(false);
   }
 
   @Override
@@ -37,4 +53,12 @@ public class Intake extends SubsystemBase {
   public void runIntake(double input) {
     m_intakeMotor.set(input);
   }
+  
+   /**
+   * Runs extender motor
+   * @param input the percent output to run motor at
+   */
+  public void runExtender(double input) {
+    m_extenderMotor.set(input);
+  }
 }