Add intakearm constants and intake arm methods including initial dropping and also...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / IntakeArm.java

package org.usfirst.frc.team3501.robot.subsystems;\r
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import org.usfirst.frc.team3501.robot.Constants;\r
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import edu.wpi.first.wpilibj.CANTalon;\r
import edu.wpi.first.wpilibj.command.Subsystem;\r
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public class IntakeArm extends Subsystem {\r
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  private CANTalon intake;\r
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  public IntakeArm() {\r
    intake = new CANTalon(Constants.IntakeArm.PORT);\r
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  }\r
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  /*\r
   * Intake only moves once at the beginning of the match. It lowers at the\r
   * beginning of the match and is held there by mechanical stops until the end\r
   * of the match.\r
   * \r
   * Must be used in a command that has a timer variable to stop it.\r
   */\r
  public void dropIntake() {\r
    intake.set(0.3);\r
  }\r
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  public void intake() {\r
    intake.set(Constants.IntakeArm.INTAKE_SPEED);\r
  }\r
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  public void output() {\r
    intake.set(Constants.IntakeArm.OUTPUT_SPEED);\r
  }\r
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  @Override\r
  protected void initDefaultCommand() {\r
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  }\r
}\r