challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/intakearm/RunIntake.java

   1 package org.usfirst.frc.team3501.robot.commands.intakearm;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 public class RunIntake extends Command {
   9   int direction;
  10
  11   public RunIntake(int direction) {
  12     requires(Robot.intakeArm);
  13     this.direction = direction;
  14   }
  15
  16   @Override
  17   protected void initialize() {
  18     if (direction == IntakeArm.IN)
  19       Robot.intakeArm.intakeBall();
  20     else if (direction == IntakeArm.OUT)
  21       Robot.intakeArm.outputBall();
  22     else
  23       Robot.intakeArm.stopRollers();
  24   }
  25
  26   @Override
  27   protected void execute() {
  28     // if Photogate.() {
  29     Robot.intakeArm.outputBall();
  30   }
  31
  32   @Override
  33   protected boolean isFinished() {
  34     return true;
  35   }
  36
  37   @Override
  38   protected void end() {
  39   }
  40
  41   @Override
  42   protected void interrupted() {
  43   }
  44
  45   // while holding right trigger, intake intakes
  46   // it intakes until it sees the ball with the photogate
  47   // as soon as it sees the ball, it outtakes for 0.2 seconds.
  48   // after this happens, the right trigger does nothing for 2 seconds
  49
  50 }