intake.h

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#pragma once
#include "command/runCommand.h"
#include "command/subsystem.h"
#include "pros/motors.hpp"

class Intake : public Subsystem {
private:
    pros::Motor intakeMotor;
 
public:
    explicit Intake(pros::Motor intake_motor) : intakeMotor(std::move(intake_motor)) {}

    void periodic() override {
        // EX: debugging tasks
        std::cout << "Intake speed: " << intakeMotor.get_actual_velocity() << std::endl;
        // Also:
        // Updating PID for something like a flywheel or odometry for a drivetrain subsystem
    }

    void setPct(const double pct) {
        // Scale [-1, 1] to [-12000 mV, 12000 mV]
        this->intakeMotor.move_voltage(static_cast<std::int32_t>(pct * 12000.0));
    }

    RunCommand *pctCommand(const double pct) {
        // Create a new RunCommand
        // The lambda body is called at every update, in this case setting the intake percentage
        return new RunCommand(
            [this, pct]() // Capture "this" and the percentage request
            {
                this->setPct(pct); // Set the percentage of the intake to the request
            },
            {this} // Add "this", the pointer to this subsystem that is currently running.
                   // It is important to ensure that all subsystems that are being utilized in a command are properly
                   // Freed to allow that command to run.
        );
    }
 
    ~Intake() override = default;
};