X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fintake%2FReverseIntake.java;h=5334e7f5ffc77bc3d67f4302c8082ac4913d602f;hp=6b7caff5658dca64b68708e9a35f137ff3337cbd;hb=9db1440b52497b7c1683ede379da726c1f79c47e;hpb=6486f4058c2c8fad53e3a6305b18d91d76fa0e1a

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntake.java b/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntake.java
index 6b7caff..5334e7f 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntake.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntake.java
@@ -2,6 +2,7 @@ package org.usfirst.frc.team3501.robot.commands.intake;
 
 import org.usfirst.frc.team3501.robot.Robot;
 
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -10,35 +11,43 @@ import edu.wpi.first.wpilibj.command.Command;
  * parameters: time to run intake
  */
 public class ReverseIntake extends Command {
+  private double timeToMove;
+  public Timer timer;
 
   public ReverseIntake(double timeToMove) {
     requires(Robot.getIntake());
+    timer = new Timer();
+    this.timeToMove = timeToMove;
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
+    timer.start();
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    Robot.getIntake().runReverseIntake();
   }
 
   // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-    return false;
+    return timer.get() >= timeToMove;
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
+    Robot.getIntake().stopIntake();
   }
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    end();
   }
 }