challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArmVertical.java

   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  * Given input verticalDisplacement, which represents how far (and in what
   9  * direction, depending on the sign) the user wants the arm to be moved linearly
  10  * & vertically, this commandGroup calls the MoveDefenseArm command, which
  11  * will then move the tip of the arm to the target position based on input
  12  * verticalDisplacement
  13  */
  14 public class MoveDefenseArmVertical extends CommandGroup {
  15
  16   public MoveDefenseArmVertical(double verticalDisplacement) {
  17     double x = Robot.defenseArm.getArmHorizontalDisplacement();
  18     double y = Robot.defenseArm.getArmVerticalDisplacement();
  19     addSequential(new MoveDefenseArm(x, y + verticalDisplacement));
  20
  21   }
  22 }