Commit | Line | Data |
---|---|---|
7a25a687 E |
1 | package org.usfirst.frc3501.RiceCatRobot.commands; |
2 | ||
3 | import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm; | |
4 | ||
5 | import edu.wpi.first.wpilibj.command.Command; | |
6 | ||
7 | public class MoveArmToLevel2 extends Command { | |
8 | Arm arm; | |
9 | double slowSpeed = 0.2; | |
10 | public MoveArmToLevel2() { | |
11 | if(arm.getArmSpeed() == 0.0) { | |
12 | arm.setArmSpeeds(slowSpeed); | |
13 | } | |
14 | } | |
15 | ||
16 | protected void initialize() { | |
17 | arm.initializeCounters(); | |
18 | } | |
19 | ||
20 | protected void execute() { | |
21 | } | |
22 | ||
23 | protected boolean isFinished() { | |
24 | return arm.isSwitch2Hit(); | |
25 | } | |
26 | ||
27 | protected void end() { | |
28 | System.out.println("Robot arm has reached level 2"); | |
29 | } | |
30 | ||
31 | protected void interrupted() { | |
32 | end(); | |
33 | } | |
34 | } |