/** 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();
}
}
