uncomment intake code (part 2)

WTMCRobotics · Mar 7, 2024 · 4b9146a · 4b9146a
1 parent 4f1d0b7
commit 4b9146a
Showing 1 changed file with 13 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotComponents/Intake.java b/src/main/java/frc/robot/RobotComponents/Intake.java
@@ -1,17 +1,27 @@
 package frc.robot.robotcomponents;
 
+import frc.robot.Constants;
+import frc.robot.Robot;
+import frc.robot.auton.AutonIntake;
+
 public class Intake {
 
+    public static void autoIntake() {
+        Robot.getTeleopActionRunner().removeActionsOfType(AutonIntake.class);
+        Robot.getTeleopActionRunner().addActionToRun(new AutonIntake());
+    }
+
     public static void startFloorIntake() {
-        // Robot.motors.getIntake().set(Constants.INTAKE_SPEED);
+        Robot.motors.getIntake().set(Constants.INTAKE_SPEED);
     }
 
     /* This will spin the motor backwards in an attempt to eject a stuck note*/
     public static void backtrack() {
-        // Robot.motors.getIntake().set(Constants.MOTOR_BACKTRACK_SPEED_PERCENT);
+        Robot.motors.getIntake().set(Constants.MOTOR_BACKTRACK_SPEED_PERCENT);
     }
 
     public static void stopFloorIntake() {
-        // Robot.motors.getIntake().stopMotor();
+        Robot.getTeleopActionRunner().removeActionsOfType(AutonIntake.class);
+        Robot.motors.getIntake().stopMotor();
     }
 }