make MoveToLevel

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

package org.usfirst.frc3501.RiceCatRobot.commands;

import org.usfirst.frc3501.RiceCatRobot.Robot;
import org.usfirst.frc3501.RiceCatRobot.RobotMap;

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

public class MoveToLevel extends Command{

	int targetLevel, currentLevel;
	
	public MoveToLevel(int targetLevel) {
		this.targetLevel = targetLevel;
	}
	
	@Override
	protected void initialize() {
		
	}
	
	@Override
	protected void execute() {
		Robot.arm.setArmSpeeds(RobotMap.ARM_LOW_SPEED);
	}

	@Override
	protected boolean isFinished() {
		if(currentLevel == targetLevel) return true;
		return false;
	}	

	@Override
	protected void end() {
		Robot.arm.setArmSpeeds(0);
	}
	
	@Override
	protected void interrupted() {
		end();
	}

}