challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/subsystems/Intake.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4
   5 import com.ctre.CANTalon;
   6
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 /**
  10  * Intakes the balls into ball container.
  11  *
  12  * @author Meeta
  13  */
  14 public class Intake extends Subsystem {
  15   public static Intake intake = null;
  16   private CANTalon intakeWheel;
  17   public static final double INTAKE_SPEED = 0;
  18
  19   public Intake() {
  20     intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
  21   }
  22
  23   /***
  24    * It gets the intake instance, and if intake has not been initialized, then
  25    * it will be initialized.
  26    *
  27    * @returns intake
  28    */
  29   public static Intake getIntake() {
  30     if (intake == null) {
  31       intake = new Intake();
  32     }
  33     return intake;
  34   }
  35
  36   @Override
  37   protected void initDefaultCommand() {
  38
  39   }
  40
  41   /***
  42    * Sets speed of intake wheel to input speed
  43    *
  44    * @param speed
  45    *          from -1 to 1
  46    */
  47   public void setSpeed(double speed) {
  48     intakeWheel.set(speed);
  49   }
  50
  51 }