Added RunExtenderOutIn command and defined extender motor

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

@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* 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 RunExtenderOutIn extends CommandBase {
+  private Intake m_intake;
+  private boolean isOut = false;
+
+  /**
+   * 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 RunExtenderOutIn(Intake subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_intake = subsystem;
+    addRequirements(m_intake);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    isOut = !isOut;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (isOut){
+      m_intake.runExtender(0.3);
+    } else {
+      m_intake.runExtender(-0.3);
+    }
+
+  }
+
+  // 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;
+  }
+}