Nickleback-2023/src/main/java/frc/robot/commands/Intake.java at 3729e17ac6d0c6cbc3dc900d32027dd5afc27cac · team401/Nickleback-2023 · GitHub

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package frc.robot.commands;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.ArmSubsystem;
import frc.robot.subsystems.ArmSubsystem.ArmPositions;

public class Intake extends CommandBase {

    private ArmSubsystem arm;

    public Intake(){

    }

    @Override
    public void initialize() {
        arm.setIntakeMotorPower(0.0);
        arm.setShooterMotorPower(0.0);
    }

    public void shoot(){
        arm.setIntakeMotorPower(0.5);
        arm.setShooterMotorPower(0.5);
    }

    public void spit(){
        arm.setIntakeMotorPower(-0.5);
        arm.setShooterMotorPower(-0.5);
    }

    public void stop(){
        arm.setIntakeMotorPower(0.0);
        arm.setShooterMotorPower(0.0);
    }

    public void home(){
        arm.setMode(ArmPositions.Home);
    }

}