From 92da401427f4f1a4cd9ff9495a5b6473f6743bed Mon Sep 17 00:00:00 2001
From: Jason Israilov <jasonisrailov@gmail.com>
Date: Sat, 10 Feb 2018 16:08:02 -0500
Subject: [PATCH] Created StopIntake Command

---
 .../team4737/robot/commands/StopIntake.java   | 39 +++++++++++++++++++
 .../frc/team4737/robot/subsystems/Intake.java | 13 ++++++-
 2 files changed, 51 insertions(+), 1 deletion(-)
 create mode 100644 src/org/usfirst/frc/team4737/robot/commands/StopIntake.java

diff --git a/src/org/usfirst/frc/team4737/robot/commands/StopIntake.java b/src/org/usfirst/frc/team4737/robot/commands/StopIntake.java
new file mode 100644
index 0000000..e480203
--- /dev/null
+++ b/src/org/usfirst/frc/team4737/robot/commands/StopIntake.java
@@ -0,0 +1,39 @@
+package org.usfirst.frc.team4737.robot.commands;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class StopIntake extends Command {
+
+	public StopIntake() {
+		// Use requires() here to declare subsystem dependencies
+		requires(Robot.INTAKE);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		Robot.INTAKE.setSpeed(0);
+	}
+
+	// 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() {
+	}
+}
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java b/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
index 7f6d926..49fb554 100644
--- a/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
+++ b/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team4737.robot.subsystems;
 
 import org.usfirst.frc.team4737.robot.RobotMap;
+import org.usfirst.frc.team4737.robot.commands.StopIntake;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
@@ -29,6 +30,16 @@ public Intake() {
 
 	public void initDefaultCommand() {
 		// Set the default command for a subsystem here.
-		// setDefaultCommand(new MySpecialCommand());
+		setDefaultCommand(new StopIntake());
+
+	}
+
+	/**
+	 * 
+	 * @param speed
+	 *            ranges from -1 to 1.
+	 */
+	public void setSpeed(double speed) {
+		// TODO
 	}
 }