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;
@Override
protected void initialize() {
- if (direction == Constants.IntakeArm.IN)
+ if (direction == IntakeArm.IN)
Robot.intakeArm.intakeBall();
- else
+ else if (direction == IntakeArm.OUT)
Robot.intakeArm.outputBall();
+ else
+ Robot.intakeArm.stopRollers();
}
@Override
protected void execute() {
+ // if Photogate.() {
+ Robot.intakeArm.outputBall();
}
@Override
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
+
}