one motor indexer

build.gradle

@@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.1.1"
+    id "edu.wpi.first.GradleRIO" version "2022.2.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

@@ -3,6 +3,8 @@
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import org.usfirst.frc4904.standard.custom.controllers.CustomJoystick;
 import org.usfirst.frc4904.standard.custom.controllers.CustomXbox;
+import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonFX;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
 
 public class RobotMap {
     public static class Port {
@@ -12,6 +14,7 @@ public static class HumanInput {
         }
 
         public static class CANMotor {
+            public static final int indexerMotor = -1; // TODO: set port
         }
 
         public static class PWM {
@@ -51,6 +54,8 @@ public static class Turn {
     }
 
     public static class Component {
+        public static Motor indexerMotor;
+        public static Motor motor;
     }
 
     public static class Input {
@@ -70,5 +75,6 @@ public RobotMap() {
         HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController);
 		HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick);
 
+        Component.indexerMotor = new Motor("indexerMotor", false, new CANTalonFX(Port.CANMotor.indexerMotor));
     }
-}
+}

src/main/java/org/usfirst/frc4904/robot/commands/IndexerOff.java

@@ -0,0 +1,21 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
+public class IndexerOff extends MotorIdle {
+
+  /**
+   * Set motor speed to zero
+   * 
+   * @param motor The motor to manipulate
+   */
+  public IndexerOff(Motor motor) {
+    super(motor, 0.0);
+  }
+
+  public IndexerOff() {
+    super(RobotMap.Component.motor, 0.0);
+  }
+}

src/main/java/org/usfirst/frc4904/robot/commands/IndexerOn.java

@@ -0,0 +1,11 @@
+package org.usfirst.frc4904.robot.commands;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+public class IndexerOn extends MotorConstant {
+    public final static double DEFAULT_INTAKE_MOTOR_SPEED = 0.5; //TODO: needs value
+    public IndexerOn() {
+        super("IndexerOn", RobotMap.Component.motor, DEFAULT_INTAKE_MOTOR_SPEED);
+    }
+}