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

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+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Intake extends SubsystemBase {
+
+    VictorSP intakeMotor1 = new VictorSP(1);
+    VictorSP intakeMotor2 = new VictorSP(2);
+
+    public DigitalInput touchSensor = new DigitalInput(1);
+
+    public Intake() {
+        intakeMotor2.setInverted(true);
+        intakeMotor1.addFollower(intakeMotor2);
+    }
+
+    public void setPower(double power) {
+        intakeMotor1.set(power);
+    }
+
+    public void intake() {
+        setPower(-0.7);
+    }
+
+    public void outtake() {
+        setPower(0.7);
+    }
+
+    public void stop() {
+        setPower(0);
+    }
+
+    public Command intakeCommand() {
+        return Commands.runEnd(this::intake, this::stop, this); // .until(() -> beambrake.get());
+    }
+
+}

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

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+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LEDs extends SubsystemBase {
+
+    AddressableLED leds;
+    AddressableLEDBuffer buffer;
+
+    public LEDs(int portNum, int length) {
+        this.leds = new AddressableLED(portNum);
+        this.buffer = new AddressableLEDBuffer(length);
+        leds.setLength(buffer.getLength());
+        leds.setData(buffer);
+        leds.start();
+    }
+
+    public void setColor(Color color) {
+        for (var i = 0; i < buffer.getLength(); i++) {
+            buffer.setLED(i, color);
+        }
+        leds.setData(buffer);
+    }
+
+    public Command setAllianceColor() {
+        return Commands.run(() -> {
+            Color color = Color.kYellow;
+            if (DriverStation.getAlliance().isPresent()) {
+                if (DriverStation.getAlliance().get() == Alliance.Red) {
+                    color = Color.kRed;
+                } else {
+                    color = Color.kBlue;
+                }
+            }
+            setColor(color);
+        }, this);
+    }
+}

src/main/java/frc/robot/subsystems/LEDs.java.txt

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+package frc.robot.subsystems;
+
+import java.util.function.Supplier;
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+/**
+ * This is the class header for the LEDs Subsystem
+ */
+public class LEDs extends SubsystemBase {
+    private AddressableLEDBuffer controLedBuffer;
+    private AddressableLED addressableLED;
+
+    /**
+     * constructs a LED Subsystem
+     *
+     * @param length length of the addressable LEDS
+     * @param port port ID for PWM
+     */
+    public LEDs(int length, int port) {
+        controLedBuffer = new AddressableLEDBuffer(length);
+        addressableLED = new AddressableLED(port);
+
+        addressableLED.setLength(controLedBuffer.getLength());
+        addressableLED.setData(controLedBuffer);
+        addressableLED.start();
+    }
+
+    /**
+     * Get LED strip length
+     *
+     * @return number of LEDs
+     */
+    public int getLength() {
+        return controLedBuffer.getLength();
+    }
+
+    /**
+     * Set individual LED color via HSV
+     *
+     * @param index the LED index to set
+     * @param h the h value [0-180)
+     * @param s the s value [0-255]
+     * @param v the v value [0-255]
+     */
+    public void setHSV(int index, int h, int s, int v) {
+        controLedBuffer.setHSV(index, h, s, v);
+    }
+
+    /**
+     * Sets the LED output data.
+     */
+    public void setData() {
+        addressableLED.setData(controLedBuffer);
+    }
+
+    /**
+     * Set individual LED color via RGB
+     *
+     * @param index the LED index to set
+     * @param r the r value [0-255]
+     * @param g the g value [0-255]
+     * @param b the b value [0-255]
+     */
+    public void setRGB(int index, int r, int g, int b) {
+        controLedBuffer.setRGB(index, r, g, b);
+    }
+
+    /**
+     * Sets RGB Color of the entire LED strip
+     *
+     * @param r - [0 - 255]
+     * @param g - [0 - 255]
+     * @param b - [0 - 255]
+     */
+    public void setRGB(int r, int g, int b) {
+        for (var i = 0; i < getLength(); i++) {
+            setRGB(i, r, g, b);
+        }
+        setData();
+    }
+
+    /**
+     * Set individual LED color via Color
+     *
+     * @param index the LED index to set
+     * @param color The color of the LED
+     */
+    public void setColor(int index, Color color) {
+        controLedBuffer.setLED(index, color);
+    }
+
+    /**
+     * Sets the Color of the entire LED strip
+     *
+     * @param color color set for the LEDs
+     */
+    public void setColor(Color color) {
+        for (var i = 0; i < getLength(); i++) {
+            setColor(i, color);
+        }
+        setData();
+    }
+
+    public Color getColor(int index) {
+        return controLedBuffer.getLED(index);
+    }
+
+    public Command setDefaultColor() {
+        Supplier<Color> colorSupplier = () -> {
+            Color color = Color.kWhite;
+            if (DriverStation.getAlliance().isPresent()) {
+                color =
+                    DriverStation.getAlliance().get() == Alliance.Red ? Color.kRed : Color.kBlue;
+            }
+            return color;
+        };
+        return Commands.run(() -> setColor(colorSupplier.get()), this).ignoringDisable(true);
+    }
+}