X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdoublejointeddefensearm%2FSetArmToAngle.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdoublejointeddefensearm%2FSetArmToAngle.java;h=0000000000000000000000000000000000000000;hb=1fe8448700c9ee28dd32df94e56d28a79d4f8ead;hp=d259b9b4d0a23c4a0a47e64a8b3e719b81654515;hpb=60fa3e53be375f99b4a5f5d97515987db1905935;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/doublejointeddefensearm/SetArmToAngle.java b/src/org/usfirst/frc/team3501/robot/commands/doublejointeddefensearm/SetArmToAngle.java
deleted file mode 100755
index d259b9b4..00000000
--- a/src/org/usfirst/frc/team3501/robot/commands/doublejointeddefensearm/SetArmToAngle.java
+++ /dev/null
@@ -1,67 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.doublejointeddefensearm;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-/***
- * This command moves the defense arm to a input angle position.
- * Requires input of a targetPosition and a speed.
- *
- * @author shaina
- *
- */
-public class SetArmToAngle extends Command {
-  private static final double THRESHOLD = 0.1;
-  private double speed;
-  private double targetPosition;
-  private double currentPosition;
-  private boolean isDecreasing = false;
-
-  public SetArmToAngle(double speed, double targetPosition) {
-    requires(Robot.defenseArm);
-
-    this.speed = speed;
-    this.targetPosition = targetPosition;
-  }
-
-  @Override
-  public void initialize() {
-    currentPosition = Robot.defenseArm.getArmPotAngle();
-
-    if (currentPosition > targetPosition) {
-      Robot.defenseArm.setArmSpeed(-speed);
-      isDecreasing = true;
-    } else {
-      Robot.defenseArm.setArmSpeed(speed);
-      isDecreasing = false;
-    }
-  }
-
-  @Override
-  public void execute() {
-
-  }
-
-  @Override
-  public boolean isFinished() {
-    currentPosition = Robot.defenseArm.getArmPotAngle();
-
-    if (isDecreasing == true) {
-      return (currentPosition <= targetPosition + THRESHOLD);
-    } else {
-      return (currentPosition >= targetPosition - THRESHOLD);
-    }
-  }
-
-  @Override
-  public void end() {
-    Robot.defenseArm.setArmSpeed(0);
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
-  }
-
-}