X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fintake%2FReverseIntakeContinuous.java;h=699559d224c4d99313a8512d564d65ddbcd0f3b4;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=b84a1920b9cbf90a3509c108522fb1e8a1169fb5;hpb=6486f4058c2c8fad53e3a6305b18d91d76fa0e1a;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntakeContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntakeContinuous.java
index b84a192..699559d 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntakeContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntakeContinuous.java
@@ -1,18 +1,24 @@
 package org.usfirst.frc.team3501.robot.commands.intake;
 
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Intake;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
  * Reverses the intake until the button triggering this command is released
  *
- * pre-condition: button is pressed
+ * pre-condition: This command must be run by a button in OI with
+ * button.whileHeld(...).
  */
 public class ReverseIntakeContinuous extends Command {
+  private Intake intake = Robot.getIntake();
+
+  private double previousMotorValue = 0;
+  private double targetMotorValue = intake.REVERSE_SPEED;
 
   public ReverseIntakeContinuous() {
-    requires(Robot.getIntake());
+    requires(intake);
   }
 
   // Called just before this Command runs the first time
@@ -23,6 +29,9 @@ public class ReverseIntakeContinuous extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+    previousMotorValue = motorValue;
+    intake.setSpeed(motorValue);
   }
 
   // Make this return true when this Command no longer needs to run execute()
@@ -34,11 +43,13 @@ public class ReverseIntakeContinuous extends Command {
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    intake.stopIntake();
   }
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 }