| 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); |
| 15 | chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_PORT); |
| 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 | } |