| 1 | package org.usfirst.frc.team3501.robot.commands; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Robot; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 6 | |
| 7 | /*** |
| 8 | * This command group simultaneously move arm and hand to retracted position. |
| 9 | * |
| 10 | * @author shaina |
| 11 | * |
| 12 | */ |
| 13 | public class RetractDefenseArm extends CommandGroup { |
| 14 | static final double ARM_FULLY_RETRACTED_ANGLE = 0; // change value once tested |
| 15 | static final double HAND_FULLY_RETRACTED_ANGLE = 0; // change value once |
| 16 | // tested |
| 17 | |
| 18 | public RetractDefenseArm(double speed) { |
| 19 | requires(Robot.defenseArm); |
| 20 | |
| 21 | addParallel(new SetArmToAngle(speed, ARM_FULLY_RETRACTED_ANGLE)); |
| 22 | addParallel(new SetHandToAngle(speed, HAND_FULLY_RETRACTED_ANGLE)); |
| 23 | } |
| 24 | } |