Not done

src/main/kotlin/com/frcteam3636/frc2025/CAN.kt

@@ -37,6 +37,7 @@ enum class CTREDeviceId(val num: Int, val bus: String) {
     BackRightDrivingMotor(3, "*"),
     FrontRightDrivingMotor(4, "*"),
     ElevatorMotor(11, "*"),
+    IntakeArmMotor(12, "*"),
     PigeonGyro(20, "*"),
     ElevatorEncoder(30, "*"),
 }

src/main/kotlin/com/frcteam3636/frc2025/subsystems/intake/Intake.kt

@@ -0,0 +1,42 @@
+package com.frcteam3636.frc2025.subsystems.intake
+
+import com.frcteam3636.frc2025.Robot
+import edu.wpi.first.wpilibj2.command.Command
+import edu.wpi.first.wpilibj2.command.Subsystem
+import org.littletonrobotics.junction.Logger
+
+object Intake: Subsystem {
+
+    private val io: IntakeIO = when (Robot.model) {
+        Robot.Model.SIMULATION -> TODO()
+        Robot.Model.COMPETITION -> IntakeIOReal()
+        Robot.Model.PROTOTYPE -> TODO()
+    }
+
+    var inputs = LoggedIntakeInputs()
+
+    override fun periodic() {
+        io.updateInputs(inputs)
+        Logger.processInputs("Intake", inputs)
+    }
+
+    fun intake(): Command =
+        startEnd(
+            {
+                io.setSpeed(0.5)
+            },
+            {
+                io.setSpeed(0.0)
+            }
+        )
+
+    fun outtake(): Command =
+        startEnd(
+            {
+                io.setSpeed(-0.5)
+            },
+            {
+                io.setSpeed(0.0)
+            }
+        )
+}

src/main/kotlin/com/frcteam3636/frc2025/subsystems/intake/IntakeIO.kt

@@ -0,0 +1,64 @@
+package com.frcteam3636.frc2025.subsystems.intake
+
+import com.frcteam3636.frc2025.CTREDeviceId
+import com.frcteam3636.frc2025.REVMotorControllerId
+import com.frcteam3636.frc2025.SparkFlex
+import com.frcteam3636.frc2025.TalonFX
+import com.revrobotics.spark.SparkBase.PersistMode
+import com.revrobotics.spark.SparkBase.ResetMode
+import com.revrobotics.spark.SparkLowLevel
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode
+import com.revrobotics.spark.config.SparkFlexConfig
+import edu.wpi.first.units.Units.*
+import org.team9432.annotation.Logged
+import kotlin.math.roundToInt
+
+@Logged
+open class IntakeInputs {
+    var rollerVelocity = RotationsPerSecond.zero()!!
+    var rollerCurrent = Amps.zero()!!
+    var rollerPosition = Radians.zero()!!
+
+    var armVelocity = RotationsPerSecond.zero()!!
+    var armCurrent = Amps.zero()!!
+    var armPosition = Radians.zero()!!
+}
+
+interface IntakeIO {
+    fun setSpeed(percent: Double)
+    fun setIsLowered(boolean: Boolean)
+    fun updateInputs(inputs: IntakeInputs)
+}
+
+class IntakeIOReal: IntakeIO {
+
+    private var intakeRollerMotor = SparkFlex(
+        REVMotorControllerId.IntakeMotor,
+        SparkLowLevel.MotorType.kBrushless
+    ).apply {
+        configure(SparkFlexConfig().apply {
+            idleMode(IdleMode.kBrake)
+            smartCurrentLimit(MOTOR_CURRENT_LIMIT.`in`(Amps).roundToInt())
+
+        }, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters)
+    }
+
+    private var intakeArmMotor = TalonFX(CTREDeviceId.IntakeArmMotor)
+
+    override fun setSpeed(percent: Double) {
+        assert(percent in -1.0..1.0)
+        intakeRollerMotor.set(percent)
+    }
+
+    override fun updateInputs(inputs: IntakeInputs) {
+        inputs.rollerVelocity = RotationsPerSecond.of(intakeRollerMotor.encoder.velocity)
+        inputs.current = Amps.of(intakeRollerMotor.outputCurrent)
+        inputs.position = Rotations.of(intakeRollerMotor.encoder.position.mod(1.0))
+    }
+}
+
+//class IntakeIOSim: IntakeIO {
+//    intakeSimulation = Intakesimulation()
+//}
+
+internal val MOTOR_CURRENT_LIMIT = Amps.of(35.0)