change variable name to match new variable names in defenseArm

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / SetHandToLevel.java

package org.usfirst.frc.team3501.robot.commands;

import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.command.Command;

public class SetHandToLevel extends Command {
  private static final double THRESHOLD = 0.1;
  private double speed;
  private double targetPosition;
  private double currentPosition;

  public SetHandToLevel(double speed, int level) {
    requires(Robot.defenseArm);

    this.speed = speed;
    this.targetPosition = Robot.defenseArm.getAngleForHandLocation(level);
  }

  @Override
  protected void initialize() {
    currentPosition = Robot.defenseArm.getHandPotAngle();

    if (currentPosition > targetPosition) {
      Robot.defenseArm.setHandSpeed(-speed);
    } else {
      Robot.defenseArm.setHandSpeed(speed);
    }

  }

  @Override
  protected void execute() {
  }

  @Override
  protected boolean isFinished() {
    currentPosition = Robot.defenseArm.getHandPotAngle();

    double difference = Math.abs(currentPosition - targetPosition);
    return (difference <= THRESHOLD);
  }

  @Override
  protected void end() {
    Robot.defenseArm.setHandSpeed(0);
  }

  @Override
  protected void interrupted() {
    end();
  }

}