package org.usfirst.frc.team3501.robot.commands.intake;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Intake;
import edu.wpi.first.wpilibj.command.Command;
*
*/
public class RunIntakeContinuous extends Command {
- // create setter method for speed, use setSpeed method to do end() by setting
- // speed to 0
+ private Intake intake = Robot.getIntake();
+
+ private double previousMotorValue = 0;
+ private double targetMotorValue = intake.INTAKE_SPEED;
public RunIntakeContinuous() {
- requires(Robot.getIntake());
+ requires(intake);
}
@Override
// Called just before this Command runs the first time
@Override
protected void initialize() {
- Robot.getIntake().runIntake();
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
-
+ double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+ previousMotorValue = motorValue;
+ intake.setSpeed(motorValue);
}
// Called once after isFinished returns true