From ac1f386e63ccb94224b0fa68be34b26a272b2a0d Mon Sep 17 00:00:00 2001
From: Ghost <145223182+GhostR406@users.noreply.github.com>
Date: Thu, 29 Jan 2026 18:23:28 -0500
Subject: [PATCH] 1/29/26 added intake.stop(), intake.getPosition(), &
 intake.getVelocity()!

---
 .../java/frc/robot/subsystems/intake/Intake.java    | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index dc054da..f5bb45e 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -2,6 +2,7 @@
 
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
+import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.io.motor.MotorIO.PIDSlot;
@@ -21,6 +22,18 @@ public void setVelocity(double velocity) {
     _io.runVelocity(angVelo, Constants.IntakeConstants.ACCELERATION, PIDSlot.SLOT_0);
   }
 
+  public AngularVelocity getVelocity() {
+    return _io.getVelocity();
+  }
+
+  public Angle getPosition() {
+    return _io.getPosition();
+  }
+
+  public void stop() {
+    setVelocity(0);
+  }
+
   @Override
   public void periodic() {}
 }