Intake command (#20)

* Adds roller command/roller control to intake subsystem

Author: sdecamillo

src/main/java/frc/robot/commands/IntakeArm.java

@@ -0,0 +1,34 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Intake;
+
+public class IntakeArm extends Command {
+
+  private final Intake intake;
+
+  public IntakeArm(Intake intake) {
+    this.intake = intake;
+    addRequirements(intake);
+  }
+
+  @Override
+  public void initialize() {
+    System.out.println("Intake Arm Command Initialized");
+    intake.runArm();
+  }
+
+  @Override
+  public void execute() {}
+
+  @Override
+  public void end(boolean interrupted) {
+    System.out.println("arm in position");
+    intake.stopArm();
+  }
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Intake.java

@@ -49,16 +49,16 @@ public void configureRollerMotor() {
     rollerMotor.getConfigurator().apply(rollerConfig);
   }
 
-  private void run() {
+  private void runRoller() {
     setRollerSpeed(Constants.Intake.ROLLER_SPEED);
   }
 
-  private void stop() {
+  private void stopRoller() {
     setRollerSpeed(0);
   }
 
   public Command runCommand() {
-    return startEnd(() -> run(), () -> stop());
+    return startEnd(() -> runRoller(), () -> stopRoller());
   }
 
   public Command runCommand(DoubleSupplier speedSupplier) {
@@ -67,6 +67,14 @@ public Command runCommand(DoubleSupplier speedSupplier) {
           double speed = speedSupplier.getAsDouble();
           setRollerSpeed(speed);
         },
-        () -> stop());
+        () -> stopRoller());
+  }
+
+  public void runArm() {
+    setArmSpeed(Constants.Intake.LIFT_SPEED);
+  }
+
+  public void stopArm() {
+    setArmSpeed(0);
   }
 }