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  * @author Meeta
  11  */
  12 public class Intake extends Subsystem {
  13   public static Intake intake = null;
  14   private CANTalon intakeWheel;
  15   public static final double INTAKE_SPEED = 0;
  16
  17   public Intake() {
  18     intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
  19   }
  20
  21   /***
  22    * It gets the intake instance, and if intake has not been initialized, then
  23    * it will be initialized.
  24    *
  25    * @returns intake
  26    */
  27   public static Intake getIntake() {
  28     if (intake == null) {
  29       intake = new Intake();
  30     }
  31     return intake;
  32   }
  33
  34   @Override
  35   protected void initDefaultCommand() {
  36
  37   }
  38
  39   /***
  40    * Sets speed of intake wheel to input speed
  41    *
  42    * @param speed
  43    *          from -1 to 1
  44    */
  45   public void setSpeed(double speed) {
  46     intakeWheel.set(speed);
  47   }
  48
  49 }