more photogate incorporation edits

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / intakearm / RunIntake.java

package org.usfirst.frc.team3501.robot.commands.intakearm;

import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.command.Command;

public class RunIntake extends Command {
  int direction;

  public RunIntake(int direction) {
    requires(Robot.intakeArm);
    this.direction = direction;
  }

  @Override
  protected void initialize() {
    if (direction == IntakeArm.IN)
      Robot.intakeArm.intakeBall();
    else if (direction == IntakeArm.OUT)
      Robot.intakeArm.outputBall();
    else
      Robot.intakeArm.stopRollers();
  }

  @Override
  protected void execute() {
    // if Photogate.() {
    Robot.intakeArm.outputBall();
  }

  @Override
  protected boolean isFinished() {
    return true;
  }

  @Override
  protected void end() {
  }

  @Override
  protected void interrupted() {
  }

  // while holding right trigger, intake intakes
  // it intakes until it sees the ball with the photogate
  // as soon as it sees the ball, it outtakes for 0.2 seconds.
  // after this happens, the right trigger does nothing for 2 seconds

}