intake.cpp

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#include "robot/intake.h"
 
#include "globals.h"
 
#define SLOWER_VELOCITY 200
#define FASTER_VELOCITY 600
 
using namespace Robot;
using namespace Robot::Globals;
 
Intake::Intake() { alliance_color = false; }
 
void Intake::run() {
 
   if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
      IntakeMotor.move_velocity(-FASTER_VELOCITY);
      HookMotor.move_velocity(-SLOWER_VELOCITY);
   } else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
      IntakeMotor.move_velocity(FASTER_VELOCITY);
      HookMotor.move_velocity(SLOWER_VELOCITY);
   } else {
      IntakeMotor.brake();
      HookMotor.brake();
   }
}