53 lines
1.5 KiB
Java
53 lines
1.5 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc.robot.commands;
|
|
|
|
import frc.robot.subsystems.IntakeSubsystem;
|
|
|
|
import edu.wpi.first.wpilibj.XboxController;
|
|
import edu.wpi.first.wpilibj2.command.Command;
|
|
|
|
/** An example command that uses an example subsystem. */
|
|
public class ManualIntake extends Command {
|
|
@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
|
|
private final IntakeSubsystem m_subsystem;
|
|
private final XboxController m_XboxController;
|
|
|
|
/**
|
|
* Creates a new ExampleCommand.
|
|
*
|
|
* @param subsystem The subsystem used by this command.
|
|
*/
|
|
public ManualIntake(IntakeSubsystem subsystem, XboxController xboxController) {
|
|
m_subsystem = subsystem;
|
|
m_XboxController = xboxController;
|
|
// Use addRequirements() here to declare subsystem dependencies.
|
|
addRequirements(subsystem);
|
|
}
|
|
|
|
// Called when the command is initially scheduled.
|
|
@Override
|
|
public void initialize() {}
|
|
|
|
// Called every time the scheduler runs while the command is scheduled.
|
|
@Override
|
|
public void execute() {
|
|
if(m_XboxController.getYButton()==true)
|
|
{
|
|
m_subsystem.extend();
|
|
}
|
|
}
|
|
|
|
// Called once the command ends or is interrupted.
|
|
@Override
|
|
public void end(boolean interrupted) {}
|
|
|
|
// Returns true when the command should end.
|
|
@Override
|
|
public boolean isFinished() {
|
|
return false;
|
|
}
|
|
}
|