misc cleanup

[ozzloy@gmail.com/3501-spark-go] / src / org / usfirst / frc / team3501 / robot / subsystems / Arm.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java b/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
index 8cfcf9b6411a646b9caaa78aae909fda25292964..eb11c8aebcd555df8904f8931adbd2b0d7e91c3b 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.RobotMap;
+import org.usfirst.frc.team3501.robot.commands.MoveArm;
 
 import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.command.Subsystem;
@@ -19,6 +20,10 @@ public class Arm extends Subsystem {
         right.set(speed);
     }
 
+    public void setFromJoystick(double speed) {
+        set(getSpeedFromJoystick(speed));
+    }
+
     public void moveLeft(double speed) {
         left.set(speed);
         right.set(0);
@@ -29,13 +34,14 @@ public class Arm extends Subsystem {
         left.set(0);
     }
 
-    public double getSpeedFromJoystick(double speed) {
+    private double getSpeedFromJoystick(double speed) {
         if (Math.abs(speed) < RobotMap.MIN_ARM_JOYSTICK_INPUT)
             speed = 0;
 
         return speed;
     }
 
-    public void initDefaultCommand() {}
+    public void initDefaultCommand() {
+        setDefaultCommand(new MoveArm());
+    }
 }
-