Commit | Line | Data |
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7b11350e KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
4 | ||
5 | import edu.wpi.first.wpilibj.CANTalon; | |
6 | import edu.wpi.first.wpilibj.command.Subsystem; | |
7 | ||
8 | public class IntakeArm extends Subsystem { | |
9 | ||
10 | private CANTalon intake; | |
11 | private CANTalon chevalDeFriseHand; | |
12 | ||
13 | public IntakeArm() { | |
14 | intake = new CANTalon(Constants.IntakeArm.PORT); | |
ee92234b | 15 | chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_PORT); |
7b11350e KZ |
16 | } |
17 | ||
18 | /* | |
19 | * Intake only moves once at the beginning of the match. It lowers at the | |
20 | * beginning of the match and is held there by mechanical stops until the end | |
21 | * of the match. | |
22 | * | |
23 | * Must be used in a command that has a timer variable to stop it. | |
24 | */ | |
25 | public void dropIntake() { | |
26 | intake.set(0.3); | |
27 | } | |
28 | ||
29 | public void intake() { | |
30 | intake.set(Constants.IntakeArm.INTAKE_SPEED); | |
31 | } | |
32 | ||
33 | public void output() { | |
34 | intake.set(Constants.IntakeArm.OUTPUT_SPEED); | |
35 | } | |
36 | ||
37 | @Override | |
38 | protected void initDefaultCommand() { | |
39 | ||
40 | } | |
41 | } |