Magazine

Robot2024/src/main/java/com/team2813/subsystems/Magazine.java

@@ -0,0 +1,27 @@
+package com.team2813.subsystems;
+
+import com.ctre.phoenix.motorcontrol.TalonFXInvertType;
+import com.team2813.lib2813.control.motors.TalonFXWrapper;
+import com.team2813.lib2813.control.ControlMode;
+import com.team2813.lib2813.control.Motor;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static com.team2813.Constants.*;
+public class Magazine extends SubsystemBase {
+    Motor kickerMotor;
+
+    public Magazine() {
+		TalonFXWrapper kickerMotor = new TalonFXWrapper(KICKER, TalonFXInvertType.CounterClockwise);
+		kickerMotor.addFollower(MAGAZINE, TalonFXInvertType.FollowMaster);
+		this.kickerMotor = kickerMotor;
+    }
+
+    public void run() {
+		kickerMotor.set(ControlMode.DUTY_CYCLE, 0.5);
+	}
+
+	public void stop() {
+		kickerMotor.set(ControlMode.DUTY_CYCLE, 0);
+	}
+}