"We smelled coffee."
Translation:Cítily jsme kávu.
It can be feeling (feel in multiple senses: I feel bad today. I can feel it with my fingers. etc.), smell or taste (Cítil jsem v tom chuť kávy - I felt the taste of coffee in it.). See also https://en.wiktionary.org/wiki/c%C3%ADtit
Big dictionaries list some more nuances, similarly to the English word feel.