Add buttons to move intake arm.

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

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

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

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

/***
 * This command runs the given motor (intended to be an intake arm motor) at the
 * given speed momentarily.
 *
 * @author harel, garima
 *
 */

public class RunIntakeMotor extends Command {
  CANTalon intakeMotor;
  double motorSpeed;

  /***
   * @param intakeMotor
   *          Motor to run.
   * @param motorSpeed
   *          Speed at which to run motor. Range is [-1,1]
   */
  public RunIntakeMotor(CANTalon intakeMotor, double motorSpeed) {
    requires(Robot.intakeArm);
    this.intakeMotor = intakeMotor;
    this.motorSpeed = motorSpeed;
  }

  @Override
  protected void initialize() {
    intakeMotor.set(motorSpeed);
  }

  @Override
  protected void execute() {

  }

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

  @Override
  protected void end() {
    intakeMotor.set(Constants.IntakeArm.STOP_INTAKE_ARM_SPEED);
  }

  @Override
  protected void interrupted() {
    end();
  }
}