Moved bot3 to y2015_bot3
Change-Id: Idebb248ddc3ff658f2404f367dfa4a6dc421e0c1
diff --git a/y2015_bot3/control_loops/intake/intake.cc b/y2015_bot3/control_loops/intake/intake.cc
new file mode 100644
index 0000000..51bab21
--- /dev/null
+++ b/y2015_bot3/control_loops/intake/intake.cc
@@ -0,0 +1,30 @@
+#include "y2015_bot3/control_loops/intake/intake.h"
+
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+
+namespace y2015_bot3 {
+namespace control_loops {
+
+Intake::Intake(control_loops::IntakeQueue *intake)
+ : aos::controls::ControlLoop<control_loops::IntakeQueue>(intake) {}
+
+void Intake::RunIteration(
+ const control_loops::IntakeQueue::Goal *goal,
+ const control_loops::IntakeQueue::Position * /*position*/,
+ control_loops::IntakeQueue::Output *output,
+ control_loops::IntakeQueue::Status * /*status*/) {
+ if (output != nullptr) {
+ output->Zero();
+
+ if (goal != nullptr) {
+ output->intake = goal->movement;
+ output->claw_closed = goal->claw_closed;
+ } else {
+ output->intake = 0.0;
+ output->claw_closed = false;
+ }
+ }
+}
+
+} // namespace control_loops
+} // namespace y2015_bot3