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   }
  29
  30   @Override
  31   protected boolean isFinished() {
  32     return true;
  33   }
  34
  35   @Override
  36   protected void end() {
  37   }
  38
  39   @Override
  40   protected void interrupted() {
  41   }
  42
  43 }