Add preliminary intake

src/main/java/frc/robot/Constants.java

@@ -112,6 +112,10 @@ public static class VisionHardware {
     public static final Rotation2d CAMERA_C_FOV = Rotation2d.fromDegrees(79.7);
   }
 
+  public static class IntakeHardware {
+    public static final Spark.ID ROLLER_MOTOR_ID = new Spark.ID("IntakeHardware/LeftFront/Drive", 10);
+  }
+
   public static class SmartDashboard {
     public static final String SMARTDASHBOARD_DEFAULT_TAB = "SmartDashboard";
     public static final String SMARTDASHBOARD_AUTO_MODE = "Auto Mode";

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

@@ -0,0 +1,74 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems.intake;
+
+import java.util.function.DoubleSupplier;
+
+import org.lasarobotics.hardware.revrobotics.Spark;
+import org.lasarobotics.hardware.revrobotics.Spark.MotorKind;
+
+import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.SparkPIDController.ArbFFUnits;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class IntakeSubsystem extends SubsystemBase {
+  public static class Hardware {
+    private Spark rollorMotor;
+
+    public Hardware(Spark rollorMotor) {
+      this.rollorMotor = rollorMotor;
+    }
+  }
+
+  private Spark m_rollorMotor;
+
+  /** Creates a new IntakeSubsystem. */
+  public IntakeSubsystem(Hardware intakeHardware) {
+    this.m_rollorMotor = intakeHardware.rollorMotor;
+  }
+
+  /**
+   * Initialize hardware devices for intake subsystem
+   * 
+   * @return Hardware object containing all necessary devices for this subsystem
+   */
+  public static Hardware initializeHardware() {
+    Hardware intakeHardware = new Hardware(
+      new Spark(Constants.IntakeHardware.ROLLER_MOTOR_ID, MotorKind.NEO)
+    );
+    return intakeHardware;
+  }
+
+  // Tells the robot to intake
+  private void intake(double speed) {
+    m_rollorMotor.set(speed, ControlType.kDutyCycle, 0.0, ArbFFUnits.kPercentOut);
+  }
+
+  public Command intakeCommand(DoubleSupplier speed) {
+    return startEnd(() -> intake(speed.getAsDouble()), () -> stop());
+  }
+
+  // Tells the robot to outtake
+  private void outtake(double speed) {
+    m_rollorMotor.set(-speed, ControlType.kDutyCycle, 0.0, ArbFFUnits.kPercentOut);
+  }
+
+  public Command outtakeCommand(DoubleSupplier speed) {
+    return startEnd(() -> outtake(speed.getAsDouble()), () -> stop());
+  }
+
+  // Stop the robot
+  private void stop() {
+    m_rollorMotor.stopMotor();;
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}