From: Shivani Ghanta <shivanighanta@Shivanis-MacBook-Pro.local>
Date: Sat, 6 Feb 2016 22:54:57 +0000 (-0800)
Subject: fix Robot.java bug:  intantiate IntakeArm subsystem, not constants
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=f81370d3185d07cf82e32b8aa49ea62d5f5fbd4d;p=3501%2Fstronghold-2016

fix Robot.java bug:  intantiate IntakeArm subsystem, not constants
---

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 71685c51..e022abe6 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -3,6 +3,7 @@ package org.usfirst.frc.team3501.robot;
 import org.usfirst.frc.team3501.robot.Constants.Defense;
 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
@@ -17,6 +18,7 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
   public static Scaler scaler;
   public static DefenseArm defenseArm;
+  public static IntakeArm intakeArm;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
@@ -30,6 +32,7 @@ public class Robot extends IterativeRobot {
     shooter = new Shooter();
     scaler = new Scaler();
     defenseArm = new DefenseArm();
+	intakeArm = new IntakeArm();
 
     // Sendable Choosers allows the driver to select the position of the robot
     // and the positions of the defenses from a drop-down menu on the Smart
diff --git a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
index 8f19f39a..7dbabcb4 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
@@ -1,18 +1,25 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
 import edu.wpi.first.wpilibj.command.Command;
 
 public class MoveIntakeArm extends Command {
 
 	public MoveIntakeArm() {
+		requires(Robot.intakeArm);
 	}
 
 	@Override
 	protected void initialize() {
+		Robot.intakeArm.getArmAngle();
 	}
 
 	@Override
 	protected void execute() {
+		if (Robot.intakeArm.getArmVoltage() == 1) {
+
+		}
 	}
 
 	@Override