/** Runs intake code */ private void joyIntake() { intake.update(); // System.out.println("hello"); if (robotCore.joy.getButton(JoyConfig.intakeButton) && !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.pickupBall(); shooter.releaseBall(); } if (robotCore.joy.getButton(JoyConfig.cancelIntakeButton) && !robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.roller.setSpeed(0); } if (robotCore.joy.getRawButton(JoyConfig.armUpButton) && robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.arm.setArmSpeed(-1); } if (robotCore.joy.getRawButton(JoyConfig.armDownButton) && robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.arm.setArmSpeed(1); } if (robotCore.joy.getButton(JoyConfig.armStopButton) && robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.arm.setArmSpeed(0); } if (robotCore.joy.getButton(JoyConfig.rollerInButton) && robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.roller.setSpeed(1); } if (robotCore.joy.getButton(JoyConfig.rollerOutButton) && robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.roller.setSpeed(-1); } if (robotCore.joy.getButton(JoyConfig.rollerStopButton) && robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.roller.setSpeed(0); } if (robotCore.joy.getButton(JoyConfig.rollerIntakeButton) && robotCore.joy.getRawButton(JoyConfig.manualModeButton)) { intake.roller.runIntakeRoller(); } if (robotCore.joy.getButton(JoyConfig.toggleArmPosButton)) { intake.arm.togglePos(); } if (robotCore.joy.getDpadLeft()) { shooter.releaseBall(); } if (robotCore.joy.getDpadRight()) { shooter.clampBall(); } if (robotCore.joy.getButton(9)) { intake.arm.setPos(2); } if (robotCore.joy.getButton(10)) { intake.arm.resetArmEnc(); } }