created hopper subsystem and intake hopper🦟™️

src/main/java/frc/robot/Constants.java

@@ -250,4 +250,11 @@ public static class consClimber {
     public static final double CLIMBER_MOTOR_VELOCITY = 0.5;
 
   }
+
+  public static class constHopper {
+    public static final double HOPPER_SPEED = 0.5;
+
+    public static final TalonFXConfiguration HOPPER_CONFIG = new TalonFXConfiguration();
+
+  }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -16,16 +16,20 @@
 import frc.robot.RobotMap.mapControllers;
 import frc.robot.commands.DriveManual;
 import frc.robot.commands.ExampleAuto;
-import frc.robot.subsystems.AlgaeIntake;
+import frc.robot.commands.*;
 import frc.robot.subsystems.CoralOuttake;
-import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.*;
 
 public class RobotContainer {
 
   private final SN_XboxController conDriver = new SN_XboxController(mapControllers.DRIVER_USB);
   private final SN_XboxController conOperator = new SN_XboxController(mapControllers.OPERATOR_USB);
 
   private final Drivetrain subDrivetrain = new Drivetrain();
+
+  private final Hopper subHopper = new Hopper();
+  private final IntakeHopper com_IntakeHopper = new IntakeHopper(subHopper);
+
   private final AlgaeIntake subAlgaeIntake = new AlgaeIntake();
   private final CoralOuttake subCoralOuttake = new CoralOuttake();
 
@@ -51,6 +55,7 @@ private void configureDriverBindings(SN_XboxController controller) {
     controller.btn_LeftBumper
         .whileTrue(Commands.runOnce(() -> subDrivetrain.setRobotRelative()))
         .onFalse(Commands.runOnce(() -> subDrivetrain.setFieldRelative()));
+    conDriver.btn_Back.whileTrue(com_IntakeHopper);
   }
 
   private void configureOperatorBindings(SN_XboxController controller) {

src/main/java/frc/robot/RobotMap.java

@@ -46,4 +46,9 @@ public static class mapAlgaeIntake {
   public static class mapCoralOuttake {
     public static final int CORAL_OUTTAKE_MOTOR_CAN = 30;
   }
+
+  // Hopper is 40-49
+  public static class mapHopper {
+    public static final int HOPPER_MOTOR_CAN = 40;
+  }
 }

src/main/java/frc/robot/commands/IntakeHopper.java

@@ -0,0 +1,45 @@
+// 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 frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.constHopper;
+import frc.robot.subsystems.Hopper;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class IntakeHopper extends Command {
+
+  Hopper subHopper;
+
+  /** Creates a new Intake_Hopper. */
+  public IntakeHopper(Hopper subHopper) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.subHopper = subHopper;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+    subHopper.runHopper(constHopper.HOPPER_SPEED);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    subHopper.runHopper(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Hopper.java

@@ -0,0 +1,33 @@
+// 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 frc.robot.subsystems;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.constHopper;
+import frc.robot.RobotMap.mapHopper;
+
+public class Hopper extends SubsystemBase {
+
+  TalonFX hopperMotor;
+
+  /** Creates a new hopper. */
+  public Hopper() {
+    hopperMotor = new TalonFX(mapHopper.HOPPER_MOTOR_CAN);
+
+    hopperMotor.getConfigurator().apply(constHopper.HOPPER_CONFIG);
+
+  }
+
+  public void runHopper(double speed) {
+    hopperMotor.set(speed);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}