added goofy mabobbies fixing doodad thingies

src/main/java/com/team1701/robot/commands/IntakeCommand.java

@@ -3,24 +3,26 @@
 import com.team1701.lib.drivers.motors.MotorIO;
 import com.team1701.robot.Constants;
 import com.team1701.robot.subsystems.indexer.Indexer;
+import com.team1701.robot.subsystems.intake.Intake;
 import com.team1701.lib.drivers.digitalinputs.DigitalIO;
 
 import edu.wpi.first.wpilibj2.command.Command;
 
 public class IntakeCommand extends Command{
-    private static final MotorIO mIntakeMotor;
-    private static final DigitalIO mIntakeEnterSensor;
-    private static final DigitalIO mIntakeExitSensor;
-    IntakeCommand(MotorIO intakeMotor, DigitalIO intakeEntranceSensor, DigitalIO intakeExitSensor){
-        mIntakeEnterSensor = intakeEntranceSensor;
-        mIntakeExitSensor = intakeExitSensor;
-        mIntakeMotor = intakeMotor;
+    private Intake mIntake;
+    private Indexer mIndexer;
+
+    IntakeCommand(Intake intake, Indexer indexer){
+        mIntake = intake;
+        mIndexer = indexer;
     } 
+
     public void execute() {
-        if (mIntakeEnterSensor) {
-            Intake.setForward();
-        } else{
-            Intake.stop();
+        if (mIntake.hasNoteAtInput()) {
+            mIntake.setForward();
+        } else if (mIntake.hasNoteAtExit()) {
+            mIntake.stop();
+            mIndexer.setForwardLoad();
         }
     }
 }

src/main/java/com/team1701/robot/subsystems/indexer/Indexer.java

@@ -49,6 +49,10 @@ public boolean noteIsLoaded() {
         return mIndexerExitSensorInputs.blocked;
     }
 
+    public boolean hasNote() {
+        return mIndexerEntranceSensorInputs.blocked || mIndexerExitSensorInputs.blocked;
+    }
+
     public void setForwardLoad() {
         mIndexerMotorIO.setPercentOutput(Constants.Indexer.kIndexerLoadPercent);
     }

src/main/java/com/team1701/robot/subsystems/intake/Intake.java

@@ -1,5 +1,7 @@
 package com.team1701.robot.subsystems.intake;
 
+import com.team1701.lib.drivers.digitalinputs.DigitalIO;
+import com.team1701.lib.drivers.digitalinputs.DigitalInputsAutoLogged;
 import com.team1701.lib.drivers.motors.MotorIO;
 import com.team1701.lib.drivers.motors.MotorInputsAutoLogged;
 import com.team1701.robot.Constants;
@@ -11,31 +13,47 @@
 public class Intake extends SubsystemBase {
     private final MotorIO mIntakeMotor;
     private final MotorInputsAutoLogged mIntakeMotorInputs = new MotorInputsAutoLogged();
-    private final IntakeIO mIntakeIO;
     private final IntakeInputsAutoLogged mIntakeInputs = new IntakeInputsAutoLogged();
+
+    private final DigitalInputsAutoLogged mIntakeEntranceSensorInputs = new DigitalInputsAutoLogged();
+    private final DigitalInputsAutoLogged mIntakeExitSensorInputs = new DigitalInputsAutoLogged();
+
+    private final DigitalIO mIntakeEntranceSensor;
+    private final DigitalIO mIntakeExitSensor;
+
     @AutoLogOutput(key = "Intake/HasPiece")
     private final boolean mIntakeHasPiece = false;
 
-    public Intake(MotorIO intakeMotor, IntakeIO intakeIO) {
+    public Intake(MotorIO intakeMotor, DigitalIO intakeEntranceSensor, DigitalIO intakeExitSensor) {
         mIntakeMotor = intakeMotor;
-        mIntakeIO = intakeIO;
+        mIntakeEntranceSensor = intakeEntranceSensor;
+        mIntakeExitSensor = intakeExitSensor;
     }
 
     @Override
     public void periodic() {
         mIntakeMotor.updateInputs(mIntakeMotorInputs);
+        mIntakeEntranceSensor.updateInputs(mIntakeEntranceSensorInputs);
+        mIntakeExitSensor.updateInputs(mIntakeExitSensorInputs);
+
         Logger.processInputs("Intake/Motor", mIntakeMotorInputs);
-        // TODO: update, process inputs for IntakeIO
+        Logger.processInputs("Intake/EntranceSensor", mIntakeEntranceSensorInputs);
+        Logger.processInputs("Intake/ExitSensor", mIntakeExitSensorInputs);
     }
 
     @AutoLogOutput
     public boolean hasNote() {
-        return mIntakeInputs.inputSensor || mIntakeInputs.outputSensor;
+        return hasNoteAtInput() || hasNoteAtExit();
     }
 
     @AutoLogOutput
     public boolean hasNoteAtInput() {
-        return mIntakeInputs.inputSensor;
+        return mIntakeEntranceSensorInputs.blocked;
+    }
+
+    @AutoLogOutput
+    public boolean hasNoteAtExit() {
+        return mIntakeExitSensorInputs.blocked;
     }
 
     public void setForward() {