From 50f0f5bb5a8a98ea9e2539d3d4f37b495322ee69 Mon Sep 17 00:00:00 2001
From: goatfanboi23 <dev.codetoad@gmail.com>
Date: Tue, 12 Mar 2024 20:30:03 -0400
Subject: [PATCH] added outake command

---
 .../robot/commands/intake/StartOutake.java    | 39 +++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/intake/StartOutake.java

diff --git a/src/main/java/frc/robot/commands/intake/StartOutake.java b/src/main/java/frc/robot/commands/intake/StartOutake.java
new file mode 100644
index 00000000..2a32861a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/intake/StartOutake.java
@@ -0,0 +1,39 @@
+package frc.robot.commands.intake;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.Constants;
+import frc.robot.subsystems.IntakeSubsystem;
+
+public class StartOutake extends Command {
+    private final IntakeSubsystem intakeSubsystem;
+    private final Timer timer = new Timer();
+    private final int motorRunTime;
+
+    public StartOutake(IntakeSubsystem intakeSubsystem, int motorRunTime) {
+        addRequirements(intakeSubsystem);
+        this.intakeSubsystem = intakeSubsystem;
+        this.motorRunTime = motorRunTime;
+    }
+
+    @Override
+    public void initialize() {
+        timer.reset();
+        timer.start();
+    }
+  
+    @Override
+    public void execute() {
+        intakeSubsystem.setMotorSpeed(-Constants.INTAKE_MOTOR_1_SPEED, -Constants.INTAKE_MOTOR_2_SPEED);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        intakeSubsystem.stopMotors();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return timer.hasElapsed(motorRunTime);
+    }
+}
\ No newline at end of file