From: Garima Kapila <garima.kapila369@gmail.com>
Date: Sat, 30 Jan 2016 05:12:04 +0000 (-0800)
Subject: Add intakearm constants and intake arm methods including initial dropping and also... 
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=29f5cd04afc186a83f86223c2d4084214c67acee;p=3501%2Fstronghold-2016

Add intakearm constants and intake arm methods including initial dropping and also intake and output methods
---

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 43dd6201..b8ecff04 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -56,6 +56,13 @@ public class Constants {
     }
   }
 
+  public static class IntakeArm {
+    public static final int PORT = 0;
+
+    public static final double INTAKE_SPEED = 0.5;
+    public static final double OUTPUT_SPEED = -0.5;
+  }
+
   public static enum Direction {
     LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
   }
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index f27eb665..a3a5be0a 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -1,15 +1,40 @@
 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 {
 
-	public IntakeArm() {
+  private CANTalon intake;
+
+  public IntakeArm() {
+    intake = new CANTalon(Constants.IntakeArm.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() {
+  @Override
+  protected void initDefaultCommand() {
 
-	}
+  }
 }