refactor(intake): Use velocity controller for intake rollers.

src/main/java/frc/lib/controller/VelocityControllerIOSim.java

@@ -0,0 +1,21 @@
+package frc.lib.controller;
+
+/** Simulated velocity controller. */
+public class VelocityControllerIOSim implements VelocityControllerIO {
+
+    private double velocityRotationsPerSecond = 0.0;
+
+    @Override
+    public void configure(VelocityControllerIOConstants constants) {}
+
+    @Override
+    public void update(VelocityControllerIOValues values) {
+        values.velocityRotationsPerSecond = velocityRotationsPerSecond;
+    }
+
+    @Override
+    public void setSetpoint(double velocityRotationsPerSecond) {
+        this.velocityRotationsPerSecond = velocityRotationsPerSecond;
+    }
+
+}

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

@@ -57,7 +57,7 @@ public void addToShuffleboard(ShuffleboardTab tab) {
   }
 
   public void initializeRollerShuffleboard(ShuffleboardTab tab, String name, VelocityControllerIOValues values) {
-    ShuffleboardLayout roller = Telemetry.addColumn(tab, "Front Roller");
+    ShuffleboardLayout roller = Telemetry.addColumn(tab, name);
 
     roller.addDouble("Velocity (rps)", () -> values.velocityRotationsPerSecond);
     roller.addDouble("Voltage (V)", () -> values.motorVolts);

src/main/java/frc/robot/intake/IntakeConstants.java

@@ -1,7 +1,36 @@
 package frc.robot.intake;
 
+import frc.lib.CAN;
+import frc.lib.PIDFConstants;
+
 /** Constants for the intake subsystem. */
 public class IntakeConstants {
+  /** Constants for the front roller. */
+  public static class FrontRollerConstants {
+    /** Front roller's CAN. */
+    public static final CAN CAN = new CAN(50);
+
+    /** Front roller's PIDF constants. */
+    public static final PIDFConstants PIDF = new PIDFConstants();
+    static {
+      PIDF.kS = 0.13;
+      PIDF.kV = 0.1683;
+    }
+  }
+
+  /** Constants for the back roller. */
+  public static class BackRollerConstants {
+    /** Back roller's CAN. */
+    public static final CAN CAN = new CAN(50);
+
+    /** Back roller's PIDF constants. */
+    public static final PIDFConstants PIDF = new PIDFConstants();
+    static {
+      PIDF.kS = 0.13;
+      PIDF.kV = 0.1759;
+    }
+  }
+
   /** Constants for the roller motor. */
   public static class RollerConstants {
     /** Velocity to apply when intaking in rotations per second. */

src/main/java/frc/robot/intake/IntakeFactory.java

@@ -1,28 +1,30 @@
 package frc.robot.intake;
 
-import frc.lib.CAN;
-import frc.lib.PIDFConstants;
 import frc.lib.controller.VelocityControllerIO;
+import frc.lib.controller.VelocityControllerIOSim;
 import frc.lib.controller.VelocityControllerIOTalonFXPIDF;
+import frc.robot.Robot;
+import frc.robot.RobotConstants;
+import frc.robot.RobotConstants.Subsystem;
+import frc.robot.intake.IntakeConstants.BackRollerConstants;
+import frc.robot.intake.IntakeConstants.FrontRollerConstants;
 
 /** Helper class for creating hardware for the intake subsystem. */
 public class IntakeFactory {
 
   public static VelocityControllerIO createFrontRoller() {
-    PIDFConstants pidf = new PIDFConstants();
+    if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.INTAKE)) {
+      return new VelocityControllerIOTalonFXPIDF(FrontRollerConstants.CAN, FrontRollerConstants.PIDF);
+    }
 
-    pidf.kS = 0.13;
-    pidf.kV = 0.1683;
-
-    return new VelocityControllerIOTalonFXPIDF(new CAN(50), pidf);
+    return new VelocityControllerIOSim();
   }
 
   public static VelocityControllerIO createBackRoller() {
-    PIDFConstants pidf = new PIDFConstants();
-
-    pidf.kS = 0.13;
-    pidf.kV = 0.1759;
+    if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.INTAKE)) {
+      return new VelocityControllerIOTalonFXPIDF(BackRollerConstants.CAN, BackRollerConstants.PIDF);
+    }
 
-    return new VelocityControllerIOTalonFXPIDF(new CAN(40), pidf);
+    return new VelocityControllerIOSim();
   }
 }