From 01d6a7ef435dd9f6835fc3916a7f623395288490 Mon Sep 17 00:00:00 2001
From: kartofen <mladenovnasko0@gmail.com>
Date: Fri, 8 Mar 2024 10:55:54 +0200
Subject: changes

---
 .../frc/robot/commands/IntakeIntermediate.java     | 32 ++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/IntakeIntermediate.java

(limited to 'src/main/java/frc/robot/commands/IntakeIntermediate.java')

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);
+    }    
+}
-- 
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