| 1 | package org.usfirst.frc.team3501.robot.commands.defensearm; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Robot; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.command.Command; |
| 6 | |
| 7 | public class MoveIntakeArmToAngle extends Command { |
| 8 | private double currentAngle; |
| 9 | private double targetAngle; |
| 10 | private double targetSpeed; |
| 11 | private double SENSITIVITY_THRESHOLD = 0.1; |
| 12 | private boolean isDecreasing = false; |
| 13 | |
| 14 | public MoveIntakeArmToAngle(double angle, double speed) { |
| 15 | requires(Robot.intakeArm); |
| 16 | targetAngle = angle; |
| 17 | targetSpeed = speed; |
| 18 | |
| 19 | } |
| 20 | |
| 21 | @Override |
| 22 | protected void initialize() { |
| 23 | currentAngle = Robot.intakeArm.getArmAngle(); |
| 24 | double difference = targetAngle - currentAngle; |
| 25 | if (difference > 0) { |
| 26 | Robot.intakeArm.setArmSpeed(targetSpeed); |
| 27 | isDecreasing = true; |
| 28 | } else { |
| 29 | Robot.intakeArm.setArmSpeed(-targetSpeed); |
| 30 | isDecreasing = false; |
| 31 | } |
| 32 | } |
| 33 | |
| 34 | @Override |
| 35 | protected void execute() { |
| 36 | |
| 37 | } |
| 38 | |
| 39 | @Override |
| 40 | protected boolean isFinished() { |
| 41 | currentAngle = Robot.intakeArm.getArmAngle(); |
| 42 | |
| 43 | if (isDecreasing == true) { |
| 44 | return (currentAngle <= targetAngle + SENSITIVITY_THRESHOLD); |
| 45 | } else { |
| 46 | return (currentAngle >= targetAngle + SENSITIVITY_THRESHOLD); |
| 47 | } |
| 48 | } |
| 49 | |
| 50 | @Override |
| 51 | protected void end() { |
| 52 | Robot.intakeArm.stop(); |
| 53 | } |
| 54 | |
| 55 | @Override |
| 56 | protected void interrupted() { |
| 57 | } |
| 58 | |
| 59 | } |