src/main/java/frc/robot/commands/IntakeIntermediate.java


1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33

package frc.robot.commands;

import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Arm;
import frc.robot.subsystems.Chain;
import frc.robot.subsystems.MainMech;

public class IntakeIntermediate extends Command 
{
    public Arm m_arm;
    public Chain m_chain;

    public IntakeIntermediate(MainMech mech)
    { 
        m_arm = mech.m_arm;
        m_chain = mech.m_chain;

        addRequirements(mech, m_arm, m_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);
    }    
}