Create motors and IDs for the subsystems🦟™️

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

@@ -3,32 +3,55 @@
 // Contains all ports on our robot
 
 public class RobotMap {
-    public static class mapControllers {
-        public static final int DRIVER_USB = 0;
-    }
-
-    public static class mapDrivetrain {
-        public static final String CAN_BUS_NAME = "Swerve";
-        public static final int PIGEON_CAN = 0;
-
-        // Module 0
-        public static final int FRONT_LEFT_DRIVE_CAN = 0;
-        public static final int FRONT_LEFT_STEER_CAN = 1;
-        public static final int FRONT_LEFT_ABSOLUTE_ENCODER_CAN = 0;
-
-        // Module 1
-        public static final int FRONT_RIGHT_DRIVE_CAN = 2;
-        public static final int FRONT_RIGHT_STEER_CAN = 3;
-        public static final int FRONT_RIGHT_ABSOLUTE_ENCODER_CAN = 1;
-
-        // Module 2
-        public static final int BACK_LEFT_DRIVE_CAN = 4;
-        public static final int BACK_LEFT_STEER_CAN = 5;
-        public static final int BACK_LEFT_ABSOLUTE_ENCODER_CAN = 2;
-
-        // Module 3
-        public static final int BACK_RIGHT_DRIVE_CAN = 6;
-        public static final int BACK_RIGHT_STEER_CAN = 7;
-        public static final int BACK_RIGHT_ABSOLUTE_ENCODER_CAN = 3;
-    }
+  public static class mapControllers {
+    public static final int DRIVER_USB = 0;
+  }
+
+  public static class mapDrivetrain {
+    public static final String CAN_BUS_NAME = "Swerve";
+    public static final int PIGEON_CAN = 0;
+
+    // Module 0
+    public static final int FRONT_LEFT_DRIVE_CAN = 0;
+    public static final int FRONT_LEFT_STEER_CAN = 1;
+    public static final int FRONT_LEFT_ABSOLUTE_ENCODER_CAN = 0;
+
+    // Module 1
+    public static final int FRONT_RIGHT_DRIVE_CAN = 2;
+    public static final int FRONT_RIGHT_STEER_CAN = 3;
+    public static final int FRONT_RIGHT_ABSOLUTE_ENCODER_CAN = 1;
+
+    // Module 2
+    public static final int BACK_LEFT_DRIVE_CAN = 4;
+    public static final int BACK_LEFT_STEER_CAN = 5;
+    public static final int BACK_LEFT_ABSOLUTE_ENCODER_CAN = 2;
+
+    // Module 3
+    public static final int BACK_RIGHT_DRIVE_CAN = 6;
+    public static final int BACK_RIGHT_STEER_CAN = 7;
+    public static final int BACK_RIGHT_ABSOLUTE_ENCODER_CAN = 3;
+  }
+
+  // Intake ID 11-20
+  public static class mapIntake {
+    // coral intake motors and pivot
+    public static final int INTAKE_PIVOT_CAN = 11;
+    public static final int CORAL_LEFT_CAN = 12;
+    public static final int CORAL_RIGHT_CAN = 13;
+    // Algae intake motor
+    public static final int INTAKE_ALGAE_CAN = 14;
+  }
+
+  // Elevator ID 21-30
+  public static class mapElevator {
+    public static final int ELEVATOR_LEFT_CAN = 21;
+    public static final int ELEVATOR_RIGHT_CAN = 22;
+    public static final int ELEVATOR_RIGHT_PIVOT_CAN = 23;
+    public static final int ELEVATOR_LEFT_PIVOT_CAN = 24;
+  }
+
+  // Climber ID 31-40
+  public static class mapClimber {
+    public static final int CLIMBER_LEFT_CAN = 31;
+  }
 }

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

@@ -0,0 +1,26 @@
+// 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.RobotMap.mapClimber;
+
+public class Climber extends SubsystemBase {
+  TalonFX climberLeftMotor;
+
+  /** Creates a new Climber. */
+  public Climber() {
+    climberLeftMotor = new TalonFX(mapClimber.CLIMBER_LEFT_CAN); // Climber left motor, using CAN ID 31 as per RobotMap
+    // Set default motor configurations if needed
+    // e.g., climberLeftMotor.configFactoryDefault();
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,34 @@
+// 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.RobotMap.mapElevator;
+
+public class Elevator extends SubsystemBase {
+  TalonFX elevatorLeftMotor;
+  TalonFX elevatorRightMotor;
+  TalonFX elevatorLeftPivotMotor;
+  TalonFX elevatorRightPivotMotor;
+
+  /** Creates a new Elevator. */
+  public Elevator() {
+
+    elevatorLeftMotor = new TalonFX(mapElevator.ELEVATOR_LEFT_CAN); // Elevator left motor
+    elevatorRightMotor = new TalonFX(mapElevator.ELEVATOR_RIGHT_CAN); // Elevator right motor
+    elevatorLeftPivotMotor = new TalonFX(mapElevator.ELEVATOR_LEFT_PIVOT_CAN); // Elevator left pivot motor
+    elevatorRightPivotMotor = new TalonFX(mapElevator.ELEVATOR_RIGHT_PIVOT_CAN); // Elevator right pivot motor
+
+    // Set default motor configurations if needed
+    // e.g., elevatorLeftMotor.configFactoryDefault();
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/frc/robot/subsystems/Intake.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.RobotMap.mapIntake;
+
+public class Intake extends SubsystemBase {
+  TalonFX intakePivotMotor;
+  TalonFX coralLeftMotor;
+  TalonFX coralRightMotor;
+  TalonFX algaeIntakeMotor;
+
+  /** Creates a new Intake. */
+  public Intake() {
+    intakePivotMotor = new TalonFX(mapIntake.INTAKE_PIVOT_CAN); // Intake pivot motor
+    coralLeftMotor = new TalonFX(mapIntake.CORAL_LEFT_CAN); // Coral left intake motor
+    coralRightMotor = new TalonFX(mapIntake.CORAL_RIGHT_CAN); // Coral right intake motor
+    algaeIntakeMotor = new TalonFX(mapIntake.INTAKE_ALGAE_CAN); // Algae intake motor
+
+    // Set default motor configurations if needed
+    // e.g., intakePivotMotor.configFactoryDefault();
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}