1 files changed, 32 insertions, 0 deletions
diff --git a/src/main/java/frc/robot/commands/IntakeIntermediate.java b/src/main/java/frc/robot/commands/IntakeIntermediate.java
new file mode 100644
index 0000000..e8ea7ee
--- /dev/null
+++ b/src/main/java/frc/robot/commands/IntakeIntermediate.java
@@ -0,0 +1,32 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.Chain;
+
+public class IntakeIntermediate extends Command 
+{
+    public Arm m_arm;
+    public Chain m_chain;
+
+    public IntakeIntermediate(Arm arm, Chain chain)
+    { 
+        m_arm = arm;
+        m_chain = chain;
+
+        addRequirements(arm, chain);
+    }
+
+    @Override
+    public void execute()
+    {
+        m_arm.atAngleDegrees(-10);
+        m_chain.atPercentage(1);
+    }
+
+    @Override
+    public boolean isFinished()
+    {
+        return m_arm.isAtAngleDegree(-10) && m_chain.isAtPosition(1);
+    }    
+}