Make code for limit switch when hit will stop the arm

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / commands / MoveArmToLevel.java

package org.usfirst.frc3501.RiceCatRobot.commands;

import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;

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

public class MoveArmToLevel extends Command {
	Arm arm;
	double slowSpeed = 0.2; //Slow speed to reach a limit switch
	
	public MoveArmToLevel(double leveldesired) {
		arm.setArmSpeeds(slowSpeed); //Moves the arm to a certain slow speed
	}

    protected void initialize() {
        arm.initializeCounter();
    }

    protected void execute() {
    }

    protected boolean isFinished() {
        return arm.isSwitchHit();
    }

    protected void end() {
        arm.stop(); //stops arm once limit switch hit
    }

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