challenge-bot.com Git - 3501/2015-FRC-Spark/blob - src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel.java

   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 MoveArmToLevel extends Command {
   8         Arm arm;
   9         double slowSpeed = 0.2; //Slow speed to reach a limit switch
  10
  11         public MoveArmToLevel(double leveldesired) {
  12                 arm.setArmSpeeds(slowSpeed); //Moves the arm to a certain slow speed
  13         }
  14
  15     protected void initialize() {
  16         arm.initializeCounter();
  17     }
  18
  19     protected void execute() {
  20     }
  21
  22     protected boolean isFinished() {
  23         return arm.isSwitchHit();
  24     }
  25
  26     protected void end() {
  27         arm.stop(); //stops arm once limit switch hit
  28     }
  29
  30     protected void interrupted() {
  31         end();
  32     }
  33 }