added more functionality to intakeEject

Author: dfang314

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/DefaultIntake.java

@@ -0,0 +1,41 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class DefaultIntake extends Command {
+
+	public DefaultIntake() {
+		// Use requires() here to declare subsystem dependencies
+		// eg. requires(chassis);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		// 1 and 5 represent the axes' index in driver station
+		Robot.intakeEject.runLeftIntake(Robot.oi.manipulator.getRawAxis(1));
+		Robot.intakeEject.runRightIntake(Robot.oi.manipulator.getRawAxis(5));
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return false;
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+	}
+}

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/IntakeEject.java

@@ -2,6 +2,7 @@
 
 import org.usfirst.frc.team199.Robot2018.Robot;
 import org.usfirst.frc.team199.Robot2018.RobotMap;
+import org.usfirst.frc.team199.Robot2018.commands.DefaultIntake;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
@@ -24,6 +25,7 @@ public class IntakeEject extends Subsystem implements IntakeEjectInterface {
 	 * Set the default command for a subsystem here.
 	 */
 	public void initDefaultCommand() {
+		setDefaultCommand(new DefaultIntake());
 	}
 
 	/**
@@ -60,16 +62,37 @@ public void stopIntake() {
 		rightIntakeMotor.stopMotor();
 	}
 
+	/**
+	 * Sets the left roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the left motor should run at
+	 */
+	public void runLeftIntake(double speed) {
+		double actualSpeed = speed * Robot.getConst("Intake Motor Left Speed Multiplier", 1);
+		leftIntakeMotor.set(actualSpeed);
+	}
+
+	/**
+	 * Sets the left roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the left motor should run at
+	 */
+	public void runRightIntake(double speed) {
+		double actualSpeed = speed * Robot.getConst("Intake Motor Right Speed Multiplier", 1);
+		rightIntakeMotor.set(actualSpeed);
+	}
+
 	/**
 	 * Spins the rollers
 	 * 
 	 * @param speed
 	 *            - positive -> rollers in, negative -> rollers out
 	 */
 	public void runIntake(double speed) {
-		double actualSpeed = speed * Robot.getConst("Intake Motor Speed Multiplier", 1);
-		leftIntakeMotor.set(actualSpeed);
-		rightIntakeMotor.set(actualSpeed);
+		runLeftIntake(speed);
+		runRightIntake(speed);
 	}
 
 	/**

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/IntakeEjectInterface.java

@@ -30,6 +30,22 @@ public interface IntakeEjectInterface {
 	 */
 	public void stopIntake();
 
+	/**
+	 * Sets the left roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the left motor should run at
+	 */
+	public void runLeftIntake(double speed);
+
+	/**
+	 * Sets the right roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the right motor should run at
+	 */
+	public void runRightIntake(double speed);
+
 	/**
 	 * Spins the rollers
 	 *