Delete copies of methods, and change initialize code in runIntakeContinuous and runRe...

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / intake / RunIntakeContinuous.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
index 9036f15f42ad2f13b18842266879ea0b5695631c..3188fe6a688e946c02a884a2ea603f3b17338566 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
@@ -1,12 +1,15 @@
 package org.usfirst.frc.team3501.robot.commands.intake;
 
-import org.usfirst.frc.team3501.robot.subsystems.Intake;
+import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /***
  *
- * Runs the intake continuously.
+ * Runs the intake continuously when button is pressed, and when button is not
+ * pressed does not run.
+ *
+ * Intended to be run inside a .whileHeld() call on a button in OI
  *
  * @author Meeta
  *
@@ -16,13 +19,12 @@ public class RunIntakeContinuous extends Command {
   // speed to 0
 
   public RunIntakeContinuous() {
-
+    requires(Robot.getIntake());
   }
 
   @Override
   protected boolean isFinished() {
-    // TODO Auto-generated method stub
-    return true;
+    return false;
   }
 
   // Called just before this Command runs the first time
@@ -34,13 +36,13 @@ public class RunIntakeContinuous extends Command {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-
+    Robot.getIntake().runIntake();
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
-    Intake.intake.setSpeed(0);
+    Robot.getIntake().stopIntake();
   }
 
   // Called when another command which requires one or more of the same