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