package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import com.ctre.CANTalon;
public class Intake extends Subsystem {
private static Intake intake = null;
private CANTalon intakeWheel;
- public static final double INTAKE_SPEED = 0;
- public static final double REVERSE_SPEED = 0;
+ public static final double INTAKE_SPEED = 1;
+ public static final double REVERSE_SPEED = -1;
public Intake() {
intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
* @param speed
* from -1 to 1
*/
- private void setSpeed(double speed) {
+ public void setSpeed(double speed) {
+ speed = MathLib.restrictToRange(speed, -1.0, 1.0);
intakeWheel.set(speed);
}