- private double seconds;
- private Timer timer;
- private Direction direction;
-
- /*
- * @param Direction must be up or down
- */
- public MoveArmFor(double seconds, Direction direction) {
- this.seconds = seconds;
- this.direction = direction;
+ private double seconds;
+ private Timer timer;
+ private Direction direction;
+
+ /*
+ * @param Direction must be up or down
+ */
+ public MoveArmFor(double seconds, Direction direction) {
+ this.seconds = seconds;
+ this.direction = direction;
+ }
+
+ @Override
+ protected void initialize() {
+ timer = new Timer();
+ timer.start();
+ }
+
+ @Override
+ protected void execute() {
+ if (direction == Direction.UP) {
+ Robot.arm.setArmSpeeds(-RobotMap.ARM_LOW_SPEED);
+ } else if (direction == Direction.DOWN) {
+ Robot.arm.setArmSpeeds(RobotMap.ARM_LOW_SPEED);