From: Shivani Oghanta <shivani.oghanta@gmail.com>
Date: Sun, 7 Feb 2016 00:20:20 +0000 (-0800)
Subject: fill MoveIntakeArm command
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=b2d340ccaf26feb89b89a2caa9bcc5d3e29ca530;hp=f81370d3185d07cf82e32b8aa49ea62d5f5fbd4d;p=3501%2Fstronghold-2016

fill MoveIntakeArm command
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
index 7dbabcb4..b9362b70 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
@@ -5,30 +5,49 @@ import org.usfirst.frc.team3501.robot.Robot;
 import edu.wpi.first.wpilibj.command.Command;
 
 public class MoveIntakeArm extends Command {
+	private double targetAngle;
+	private double currentAngle;
+	private double targetSpeed;
+	private double SENSITIVITY_THRESHOLD = 0.1;
+	private double NO_MOVEMENT_SPEED = 0;
 
-	public MoveIntakeArm() {
+	public MoveIntakeArm(double angle, double speed) {
 		requires(Robot.intakeArm);
+		targetAngle = angle;
+		targetSpeed = speed;
 	}
 
 	@Override
 	protected void initialize() {
-		Robot.intakeArm.getArmAngle();
+		currentAngle = Robot.intakeArm.getArmAngle();
+		double difference = targetAngle - currentAngle;
+		if (difference > 0) {
+			Robot.intakeArm.setArmVoltage(targetSpeed);
+		} else {
+			Robot.intakeArm.setArmVoltage(-targetSpeed);
+		}
 	}
 
 	@Override
 	protected void execute() {
-		if (Robot.intakeArm.getArmVoltage() == 1) {
 
-		}
 	}
 
 	@Override
 	protected boolean isFinished() {
-		return false;
+		currentAngle = Robot.intakeArm.getArmAngle();
+		double distance = Math.abs(currentAngle - targetAngle);
+		if (distance <= SENSITIVITY_THRESHOLD) {
+			return true;
+		} else {
+			return false;
+		}
+
 	}
 
 	@Override
 	protected void end() {
+		Robot.intakeArm.setArmVoltage(NO_MOVEMENT_SPEED);
 	}
 
 	@Override