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finish photogate insertion
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
intakearm
/
RunIntake.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
b/src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
index c69b350631e777c30fa65a792f8d1a2928092f18..649ed5cf503232435539b6600a36f359a4d73f95 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java
@@
-1,6
+1,6
@@
package org.usfirst.frc.team3501.robot.commands.intakearm;
package org.usfirst.frc.team3501.robot.commands.intakearm;
-import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Constants
.IntakeArm
;
import org.usfirst.frc.team3501.robot.Robot;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc.team3501.robot.Robot;
import edu.wpi.first.wpilibj.command.Command;
@@
-15,9
+15,9
@@
public class RunIntake extends Command {
@Override
protected void initialize() {
@Override
protected void initialize() {
- if (direction ==
Constants.
IntakeArm.IN)
+ if (direction == IntakeArm.IN)
Robot.intakeArm.intakeBall();
Robot.intakeArm.intakeBall();
- else if (direction ==
Constants.
IntakeArm.OUT)
+ else if (direction == IntakeArm.OUT)
Robot.intakeArm.outputBall();
else
Robot.intakeArm.stopRollers();
Robot.intakeArm.outputBall();
else
Robot.intakeArm.stopRollers();
@@
-25,6
+25,8
@@
public class RunIntake extends Command {
@Override
protected void execute() {
@Override
protected void execute() {
+ if (Photogate.ballState())
+ Robot.intakeArm.outputBall();
}
@Override
}
@Override
@@
-40,4
+42,9
@@
public class RunIntake extends Command {
protected void interrupted() {
}
protected void interrupted() {
}
+ // while holding right trigger, intake intakes
+ // it intakes until it sees the ball with the photogate
+ // as soon as it sees the ball, it outtakes for 0.2 seconds.
+ // after this happens, the right trigger does nothing for 2 seconds
+
}
}