Implemented Intake.setSpeed

WBHSRobotics4737 · Feb 10, 2018 · aa22dfc · aa22dfc
1 parent 1a4e63b
commit aa22dfc
Showing 1 changed file with 9 additions and 7 deletions.
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java b/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
@@ -15,18 +15,20 @@ public class Intake extends Subsystem {
 	// Put methods for controlling this subsystem
 	// here. Call these from Commands.
 
-	private WPI_TalonSRX leftMotor;
-	private WPI_TalonSRX rightMotor;
+	private WPI_TalonSRX leftMotorMaster;
+	private WPI_TalonSRX rightMotorSlave;
 
 	public Intake() {
-		leftMotor = new WPI_TalonSRX(RobotMap.INTAKE_LEFT);
-		rightMotor = new WPI_TalonSRX(RobotMap.INTAKE_RIGHT);
+		leftMotorMaster = new WPI_TalonSRX(RobotMap.INTAKE_LEFT);
+		rightMotorSlave = new WPI_TalonSRX(RobotMap.INTAKE_RIGHT);
+
+		rightMotorSlave.setInverted(true);
+		rightMotorSlave.follow(leftMotorMaster);
 	}
 
 	public void initDefaultCommand() {
 		// Set the default command for a subsystem here.
 		setDefaultCommand(new StopIntake());
-
 	}
 
 	/**
@@ -35,7 +37,7 @@ public void initDefaultCommand() {
 	 *            ranges from -1 to 1.
 	 */
 	public void setSpeed(double speed) {
-		// TODO
+		leftMotorMaster.set(speed);
 	}
-	
+
 }