IntakeExtension

src/main/java/frc/robot/Robot.java

@@ -386,6 +386,7 @@ private void addAutos() {
 
   @Override
   public void robotPeriodic() {
+
     CommandScheduler.getInstance().run();
     superstructure.periodic();
 

src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java

@@ -159,6 +159,7 @@ public static TalonFXConfiguration getKickerConfigs() {
 
   @Override
   public void periodic() {
+
     firstCANRangeIO.updateInputs(firstCANRangeInputs);
     Logger.processInputs("Indexer/First Beambreak", firstCANRangeInputs);
     secondCANRangeIO.updateInputs(secondCANRangeInputs);

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

@@ -0,0 +1,80 @@
+package frc.robot.subsystems.intake;
+
+import static edu.wpi.first.units.Units.Volts;
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.*;
+import frc.robot.components.rollers.RollerIO;
+import frc.robot.components.rollers.RollerIOInputsAutoLogged;
+import org.littletonrobotics.junction.Logger;
+
+public class ExtensionSubsystem extends SubsystemBase {
+  public static final double GEAR_RATIO = 2.0;
+
+
+
+
+  private ExtensionIO io;
+  private ExtensionIOInputsAutoLogged inputs = new RollerIOInputsAutoLogged();
+
+  private SysIdRoutine intakeRollerSysid =
+      new SysIdRoutine(
+          new Config(null, null, null, (state) -> Logger.recordOutput("Extension/SysID State", state)),
+          new Mechanism((volts) -> io.setExtensionVoltage(volts.in(Volts)), null, this));
+
+  public ExtensionSubsystem(ExtensionIO io) {
+    this.io = io;
+  }
+
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs("Extension", inputs);
+  }
+
+  // TODO get actual values
+  public Command extend() {
+    return this.run(() -> io.setExtensionVoltage(5));
+  }
+
+  public Command contract() {
+    return this.run(() -> io.setExtensionVoltage(-2));
+  }
+
+  public Command stop() {
+    return this.run(() -> io.setExtensionVoltage(0));
+  }
+
+  public Command runRollerSysid() {
+    return Commands.sequence(
+        intakeRollerSysid.quasistatic(Direction.kForward),
+        intakeRollerSysid.quasistatic(Direction.kReverse),
+        intakeRollerSysid.dynamic(Direction.kForward),
+        intakeRollerSysid.dynamic(Direction.kReverse));
+  }
+
+  public static TalonFXConfiguration getExtensionConfig() {
+    TalonFXConfiguration config = new TalonFXConfiguration();
+    config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
+    config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
+
+    config.Feedback.SensorToMechanismRatio = GEAR_RATIO;
+
+    config.Slot0.kS = 0.24;
+    config.Slot0.kV = 0.6;
+    config.Slot0.kP = 110.0;
+    config.Slot0.kD = 0.0;
+
+    config.CurrentLimits.StatorCurrentLimit = 80.0;
+    config.CurrentLimits.StatorCurrentLimitEnable = true;
+    config.CurrentLimits.SupplyCurrentLimit = 60.0;
+    config.CurrentLimits.SupplyCurrentLimitEnable = true;
+
+    return config;
+  }
+}

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

@@ -17,6 +17,9 @@
 public class IntakeSubsystem extends SubsystemBase {
   public static final double GEAR_RATIO = 2.0;
 
+
+
+
   private RollerIO io;
   private RollerIOInputsAutoLogged inputs = new RollerIOInputsAutoLogged();
 

vendordeps/playingwithfusion2026.json

@@ -0,0 +1,71 @@
+{
+  "fileName": "playingwithfusion2026.json",
+  "name": "PlayingWithFusion",
+  "version": "2026.1.16",
+  "uuid": "14b8ad04-24df-11ea-978f-2e728ce88125",
+  "frcYear": "2026",
+  "jsonUrl": "https://www.playingwithfusion.com/frc/playingwithfusion2026.json",
+  "mavenUrls": [
+    "https://www.playingwithfusion.com/frc/maven/"
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "com.playingwithfusion.frc",
+      "artifactId": "PlayingWithFusion-java",
+      "version": "2026.1.16"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "com.playingwithfusion.frc",
+      "artifactId": "PlayingWithFusion-driver",
+      "version": "2026.1.16",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxathena",
+        "linuxarm32",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "com.playingwithfusion.frc",
+      "artifactId": "PlayingWithFusion-cpp",
+      "version": "2026.1.16",
+      "libName": "PlayingWithFusion",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxathena",
+        "linuxarm32",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.playingwithfusion.frc",
+      "artifactId": "PlayingWithFusion-driver",
+      "version": "2026.1.16",
+      "libName": "PlayingWithFusionDriver",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxathena",
+        "linuxarm32",
+        "osxuniversal"
+      ]
+    }
+  ]
+}