StartOutake.java

package frc.robot.commands.intake;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.constants.Constants;
import frc.robot.subsystems.IntakeSubsystem;

public class StartOutake extends Command {
    private final IntakeSubsystem intakeSubsystem;
    private final Timer timer = new Timer();
    private final int motorRunTime;

    public StartOutake(IntakeSubsystem intakeSubsystem, int motorRunTime) {
        addRequirements(intakeSubsystem);
        this.intakeSubsystem = intakeSubsystem;
        this.motorRunTime = motorRunTime;
    }

    @Override
    public void initialize() {
        timer.reset();
        timer.start();
    }
  
    @Override
    public void execute() {
        intakeSubsystem.setMotorSpeed(-Constants.INTAKE_MOTOR_1_SPEED, -Constants.INTAKE_MOTOR_2_SPEED);
    }

    @Override
    public void end(boolean interrupted) {
        intakeSubsystem.stopMotors();
    }

    @Override
    public boolean isFinished() {
        return timer.hasElapsed(motorRunTime);
    }
}