Your intake model already makes useful decisions. In this stage we’ll place those decisions inside a RobotPy program and use a simulated sensor and motor. That gives us repeated updates and changing inputs without needing a real robot. We start by separating a robot’s goal, its output, and the measurement that tells us what happened. Then we’ll see how the framework repeats those decisions.
Keep the mechanism simple while learning the framework. You should finish able to run the intake manually, stop acquisition when a piece is detected, and make a bounded autonomous action. Stage 1B will reorganize that same behavior into commands.