challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4
   5 import edu.wpi.first.wpilibj.CANTalon;
   6 import edu.wpi.first.wpilibj.command.Subsystem;
   7
   8 public class IntakeArm extends Subsystem {
   9
  10   private CANTalon intake;
  11
  12   public IntakeArm() {
  13     intake = new CANTalon(Constants.IntakeArm.PORT);
  14
  15   }
  16
  17   /*
  18    * Intake only moves once at the beginning of the match. It lowers at the
  19    * beginning of the match and is held there by mechanical stops until the end
  20    * of the match.
  21    *
  22    * Must be used in a command that has a timer variable to stop it.
  23    */
  24   public void dropIntake() {
  25     intake.set(0.3);
  26   }
  27
  28   public void intake() {
  29     intake.set(Constants.IntakeArm.INTAKE_SPEED);
  30   }
  31
  32   public void output() {
  33     intake.set(Constants.IntakeArm.OUTPUT_SPEED);
  34   }
  35
  36   @Override
  37   protected void initDefaultCommand() {
  38
  39   }
  40 }