X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fintake%2FRunIntakeContinuous.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fintake%2FRunIntakeContinuous.java;h=5d26e02220d7b580d0b7941ff57b1c688e46fc49;hp=3188fe6a688e946c02a884a2ea603f3b17338566;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hpb=8275a069e1891bd27156dcd947a897519c42a3a3

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 3188fe6..5d26e02 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intake/RunIntakeContinuous.java
@@ -1,6 +1,7 @@
 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;
 
@@ -15,11 +16,13 @@ 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
@@ -30,13 +33,14 @@ public class RunIntakeContinuous extends Command {
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    Robot.getIntake().runIntake();
+    double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
+    previousMotorValue = motorValue;
+    intake.setSpeed(motorValue);
   }
 
   // Called once after isFinished returns true