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1 | package org.usfirst.frc.team3501.robot.commands; |
2 | ||
5d8fe6b4 | 3 | import org.usfirst.frc.team3501.robot.Robot; |
4 | ||
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5 | import edu.wpi.first.wpilibj.command.Command; |
6 | ||
7 | public class ToggleBallRollerIntake extends Command { | |
4e0d6389 | 8 | |
88c84792 | 9 | // Must be called with whileHeld in oi |
4e0d6389 | 10 | public ToggleBallRollerIntake() { |
df77579b | 11 | requires(Robot.intakeArm); |
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12 | } |
13 | ||
14 | @Override | |
15 | protected void initialize() { | |
6538050b | 16 | if (Robot.intakeArm.areRollersRolling()) { |
5d8fe6b4 | 17 | Robot.intakeArm.stopRollers(); |
18 | } else | |
19 | Robot.intakeArm.intakeBall(); | |
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20 | } |
21 | ||
22 | @Override | |
23 | protected void execute() { | |
24 | ||
25 | } | |
26 | ||
27 | @Override | |
28 | protected boolean isFinished() { | |
29 | return true; | |
30 | } | |
31 | ||
32 | @Override | |
33 | protected void end() { | |
1828f5f6 | 34 | Robot.intakeArm.stopRollers(); |
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35 | } |
36 | ||
37 | @Override | |
38 | protected void interrupted() { | |
1828f5f6 | 39 | end(); |
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40 | } |
41 | ||
42 | } |