RiseOfRidgebotics2020/src/main/java/frc4388/robot/commands/RunIntakeWithTriggers.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot.commands;

import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Intake;
import frc4388.utility.controller.IHandController;

public class RunIntakeWithTriggers extends CommandBase {
  private Intake m_intake;
  private IHandController m_controller;

  /**
   * Uses input from opperator triggers to control intake motor.
   * The right trigger will run the intake in and the left trigger will run it out.
   * @param subsystem pass the Intake subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
   * @param controller pass the Operator {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
   * {@link frc4388.robot.RobotContainer#getOperatorJoystick() getOperatorJoystick()} method in
   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
   */
  public RunIntakeWithTriggers(Intake subsystem, IHandController controller) {
    // Use addRequirements() here to declare subsystem dependencies.
    m_intake = subsystem;
    m_controller = controller;
    addRequirements(m_intake);
  }

  // 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() {
    double rightTrigger = m_controller.getRightTriggerAxis();
    double leftTrigger = m_controller.getLeftTriggerAxis();
    double output = 0;
    if(leftTrigger >= rightTrigger) {
      output = leftTrigger;
    }
    if (rightTrigger > leftTrigger) {
      output = -rightTrigger;
    }
    m_intake.runIntake(output);
  }

  // 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;
  }
}