2024AcrossTheRidgebotiverse/src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.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 frc4388.robot.commands.Intake;

import edu.wpi.first.wpilibj2.command.Command;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.Shooter;

public class ArmIntakeIn extends Command {
  /** Creates a new ArmIntakeIn. */
  private Intake robotIntake;
  private Shooter robotShooter;

  public ArmIntakeIn(Intake robotIntake, Shooter robotShooter) {
    // Use addRequirements() here to declare subsystem dependencies.
    this.robotIntake = robotIntake;
    this.robotShooter = robotShooter;

    addRequirements(this.robotIntake, this.robotShooter);
  }

  // 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() {
    robotIntake.pidOut();
    robotIntake.spinIntakeMotor();
  }

  // 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() {
    if(robotIntake.getIntakeLimitSwtichState() == true) {
      return true;
    } else {
      return false;
    }

  }
}