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package edu.wpi.first.wpilibj.templates.commands;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.can.CANTimeoutException;

/**
 *
 * @author SERT
 */
public class TriggerIntake extends CommandBase {
    boolean first = true;
    
    public TriggerIntake() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(intakeSub);
        requires(kickerSub);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        if (first) {
            if(intakeSub.isUp()) {
                intakeSub.lowerArm();
            }

            if (kickerSub.isUp()) {
                kickerSub.lowerKicker();
            }
            
            first = false;
        }
        
         try {
            intakeSub.intake();
        } catch (CANTimeoutException ex) {
//            ex.printStackTrace();
        }
    }

    // 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() {
        try {
            intakeSub.stopIntake();
        } catch (CANTimeoutException ex) {
//            ex.printStackTrace();
        }
        first = true;
    }
    
    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
        end();
    }
}
