- intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
- intakeArm = new CANTalon(Constants.IntakeArm.INTAKE_PORT);
- intakePot = new AnalogPotentiometer(
- Constants.IntakeArm.INTAKE_CHANNEL,
- Constants.IntakeArm.FULL_RANGE,
- Constants.IntakeArm.OFFSET);
+ intakeRoller = new CANTalon(Constants.IntakeArm.INTAKE_ROLLER_PORT);
+
+ leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_INTAKE_MODULE,
+ Constants.IntakeArm.LEFT_INTAKE_FORWARD,
+ Constants.IntakeArm.LEFT_INTAKE_REVERSE);
+
+ rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_INTAKE_MODULE,
+ Constants.IntakeArm.RIGHT_INTAKE_FORWARD,
+ Constants.IntakeArm.RIGHT_INTAKE_REVERSE);
+ }
+
+ public void retractPistons() {
+ leftIntake.set(Constants.IntakeArm.RETRACT);
+ rightIntake.set(Constants.IntakeArm.RETRACT);
+ }
+
+ public void extendPistons() {
+ leftIntake.set(Constants.IntakeArm.EXTEND);
+ rightIntake.set(Constants.IntakeArm.EXTEND);
+ }
+
+ public boolean isExtended() {
+ return (leftIntake.get() == Constants.IntakeArm.EXTEND
+ && rightIntake.get() == Constants.IntakeArm.EXTEND);