58 lines
1.7 KiB
Java
58 lines
1.7 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystems.HopperSubsystem;
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import frc.robot.subsystems.IntakeSubsystem;
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/**
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* An example command that uses an example subsystem.
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*/
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public class Reverse extends Command {
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private IntakeSubsystem intakeSubsystem;
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private HopperSubsystem hopperSubsystem;
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private XboxController m_XboxController;
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/**
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* Creates a new ExampleCommand.
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*
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* @param subsystem The subsystem used by this command.
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*/
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public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem, XboxController m_XboxController) {
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this.intakeSubsystem = intakeSubsystem;
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this.hopperSubsystem = hopperSubsystem;
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this.m_XboxController = m_XboxController;
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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intakeSubsystem.reverseIntake();
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hopperSubsystem.spindexerReverse();
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hopperSubsystem.reverseKicker();
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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hopperSubsystem.stopKicker();
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hopperSubsystem.spindexerOff();
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intakeSubsystem.stopIntake(m_XboxController);
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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