+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 RunIntakeContinuous extends Command {
+ int direction;
+
+ public RunIntakeContinuous(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.ballState())
+ 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
+
+}