Add intake subsystem to RobotContainer.java (#60)

# Description

This pull request adds the intake subsystem to the robot container,
allowing the intake to be used.

Scoring states have also been updated to be publicly accessible

Fixes #53 

## Type of change

Please delete options that are not relevant.

- [X] New feature (non-breaking change which adds functionality)

# Checklist:

- [X] My code follows the style guidelines of this project
- [X] I have performed a self-review of my code
- [ ] I have commented my code, particularly in hard-to-understand areas
- [X] I have made corresponding changes to the documentation, if any
- [X] My changes generate no new warnings
- [X] I have performed tests that prove my fix is effective or that my
feature works, if necessary
- [X] New and existing unit tests pass locally with my changes

---------

Co-authored-by: github-actions <>

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

@@ -7,10 +7,14 @@
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 
+import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.subsystems.drive.DriveConstants;
 import frc.robot.subsystems.drive.DriveSubsystem;
+import frc.robot.subsystems.intake.IntakeSubsystem;
+import frc.robot.subsystems.intake.enums.IntakeGamepiece;
+import frc.robot.subsystems.intake.states.scoring.cone.HighCone;
 import frc.robot.subsystems.led.LEDSubsystem;
 
 public class RobotContainer {
@@ -20,6 +24,9 @@ private class Controller {
   }
 
   private final LEDSubsystem ledSubsystem;
+  private final IntakeSubsystem intakeSubsystem;
+
+  private final PowerDistribution pdp = new PowerDistribution();
 
   // Set up the base for the drive and drivetrain
   final DriveSubsystem drivetrain = DriveConstants.DriveTrain;
@@ -57,11 +64,22 @@ private void configureBindings() {
                 // (left)
                 )
             .ignoringDisable(true));
+
+    Controller.operator
+        .yellowButton()
+        .toggleOnTrue(intakeSubsystem.intakeHoldCommand(IntakeGamepiece.CONE));
+    Controller.operator
+        .blueButton()
+        .toggleOnTrue(intakeSubsystem.intakeHoldCommand(IntakeGamepiece.CUBE));
+    Controller.operator
+        .greenButton()
+        .toggleOnTrue(intakeSubsystem.intakeScoreCommand(new HighCone(), IntakeGamepiece.CONE));
   }
 
   public RobotContainer() {
     configureBindings();
     ledSubsystem = new LEDSubsystem();
+    intakeSubsystem = new IntakeSubsystem(pdp);
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java

@@ -57,7 +57,6 @@ public Command stopIntakeCommand() {
    * @param expectedPiece the type of gamepiece to expect when scoring
    * @return a command that scores a gamepiece
    */
-
   public Command intakeScoreCommand(ScoringState scoringState, IntakeGamepiece expectedGamepiece) {
 
     SmartDashboard.putString("INTAKE STATE", scoringState.getStateName());

src/main/java/frc/robot/subsystems/intake/states/ScoringState.java

@@ -1,9 +1,7 @@
 package frc.robot.subsystems.intake.states;
 
-
 import frc.robot.subsystems.intake.enums.IntakeGamepiece;
 
-
 public abstract class ScoringState {
   double outtakeSpeed;
   double cubeOuttakeSpeed;
@@ -48,7 +46,6 @@ public String getStateName() {
    * Gets the outtake speed for the scoring state depending on the gamepiece that is expected to be
    * scored
    *
-
    * @param expectedGamepiece The gamepiece that is expected to be scored
    * @return The outtake speed for the scoring state
    */

src/main/java/frc/robot/subsystems/intake/states/scoring/cone/HighCone.java

@@ -5,7 +5,7 @@
 
 public class HighCone extends ScoringState {
 
-  HighCone() {
+  public HighCone() {
     super(IntakeConstants.OuttakeSpeeds.HIGH_CONE, "High Cone");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/cone/HighConeAuto.java

@@ -5,7 +5,7 @@
 
 public class HighConeAuto extends ScoringState {
 
-  HighConeAuto() {
+  public HighConeAuto() {
     super(IntakeConstants.OuttakeSpeeds.HIGH_CONE_AUTO, "High Cone Auto");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/cone/MidCone.java

@@ -5,7 +5,7 @@
 
 public class MidCone extends ScoringState {
 
-  MidCone() {
+  public MidCone() {
     super(IntakeConstants.OuttakeSpeeds.MID_CONE, "Mid Cone");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/cone/MidConeTipped.java

@@ -5,7 +5,7 @@
 
 public class MidConeTipped extends ScoringState {
 
-  MidConeTipped() {
+  public MidConeTipped() {
     super(IntakeConstants.OuttakeSpeeds.MID_CONE_TIPPED, "Mid Cone Tipped");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/cube/HighCube.java

@@ -5,7 +5,7 @@
 
 public class HighCube extends ScoringState {
 
-  HighCube() {
+  public HighCube() {
     super(IntakeConstants.OuttakeSpeeds.HIGH_CUBE, "High Cube");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/cube/HighCubeAuto.java

@@ -5,7 +5,7 @@
 
 public class HighCubeAuto extends ScoringState {
 
-  HighCubeAuto() {
+  public HighCubeAuto() {
     super(IntakeConstants.OuttakeSpeeds.HIGH_CUBE, "High Cube Auto");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/cube/MidCube.java

@@ -5,7 +5,7 @@
 
 public class MidCube extends ScoringState {
 
-  MidCube() {
+  public MidCube() {
     super(IntakeConstants.OuttakeSpeeds.MID_CUBE, "Mid Cube");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/cube/MidCubeAuto.java

@@ -5,7 +5,7 @@
 
 public class MidCubeAuto extends ScoringState {
 
-  MidCubeAuto() {
+  public MidCubeAuto() {
     super(IntakeConstants.OuttakeSpeeds.MID_CUBE, "Mid Cube Auto");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/level/Low.java

@@ -5,7 +5,7 @@
 
 public class Low extends ScoringState {
 
-  Low() {
+  public Low() {
     super(IntakeConstants.OuttakeSpeeds.LOW_CUBE, IntakeConstants.OuttakeSpeeds.LOW_CONE, "Low");
   }
 }

src/main/java/frc/robot/subsystems/intake/states/scoring/level/LowAuto.java

@@ -5,7 +5,7 @@
 
 public class LowAuto extends ScoringState {
 
-  LowAuto() {
+  public LowAuto() {
     super(
         IntakeConstants.OuttakeSpeeds.LOW_CUBE_AUTO,
         IntakeConstants.OuttakeSpeeds.LOW_CONE_AUTO,