Rename storageIntake.java to StorageIntake.java

src/main/java/frc4388/robot/commands/StorageIntake.java

@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* 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.Constants.IntakeConstants;
+import frc4388.robot.Constants.StorageConstants;
+import frc4388.robot.subsystems.Intake;
+import frc4388.robot.subsystems.Storage;
+
+public class StorageIntake extends CommandBase {
+  public Intake m_intake;
+  public Storage m_storage;
+  public boolean intook;
+  /**
+   * Creates a new storageIntake.
+   */
+  public StorageIntake(Intake inSub, Storage storeSub) {
+    m_intake = inSub;
+    m_storage = storeSub;
+    addRequirements(m_intake);
+    addRequirements(m_storage);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    intook = false;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+    if (m_storage.getBeam(0)){
+      m_storage.setStoragePID(m_storage.getEncoderPos() + StorageConstants.STORAGE_PARTIAL_BALL);
+      m_intake.runExtender(-IntakeConstants.EXTENDER_SPEED); 
+      intook = true;
+    }
+    else{
+      m_intake.runExtender(IntakeConstants.EXTENDER_SPEED); 
+    }
+  }
+
+  // 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 (!m_storage.getBeam(0) && m_storage.getBeam(1) && intook){
+      return true;
+    }
+    return false;
+  }
+}