From 30a7f376a71d1fecdd501c8f124be2e3b4162949 Mon Sep 17 00:00:00 2001
From: Kevin Zhang <kevin.zhang.13499@gmail.com>
Date: Mon, 16 Nov 2015 21:00:34 -0800
Subject: [PATCH] make MoveToLevel

---
 .../{MoveUpLevel.java => MoveToLevel.java}    | 35 +++++++++----------
 1 file changed, 17 insertions(+), 18 deletions(-)
 rename src/org/usfirst/frc3501/RiceCatRobot/commands/{MoveUpLevel.java => MoveToLevel.java} (56%)

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveUpLevel.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveToLevel.java
similarity index 56%
rename from src/org/usfirst/frc3501/RiceCatRobot/commands/MoveUpLevel.java
rename to src/org/usfirst/frc3501/RiceCatRobot/commands/MoveToLevel.java
index 55096fb..ee10d1a 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveUpLevel.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveToLevel.java
@@ -1,43 +1,42 @@
 package org.usfirst.frc3501.RiceCatRobot.commands;
 
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+import org.usfirst.frc3501.RiceCatRobot.RobotMap;
+
 import edu.wpi.first.wpilibj.command.Command;
 
-public class MoveUpLevel extends Command{
+public class MoveToLevel extends Command{
 
 	int targetLevel, currentLevel;
 	
-	public MoveUpLevel(int targetLevel) {
+	public MoveToLevel(int targetLevel) {
 		this.targetLevel = targetLevel;
 	}
 	
 	@Override
-	protected void end() {
-		// TODO Auto-generated method stub
+	protected void initialize() {
 		
 	}
-
+	
 	@Override
 	protected void execute() {
-		// TODO Auto-generated method stub
-		
+		Robot.arm.setArmSpeeds(RobotMap.ARM_LOW_SPEED);
 	}
 
 	@Override
-	protected void initialize() {
-		// TODO Auto-generated method stub
-		
-	}
+	protected boolean isFinished() {
+		if(currentLevel == targetLevel) return true;
+		return false;
+	}	
 
 	@Override
-	protected void interrupted() {
-		// TODO Auto-generated method stub
-		
+	protected void end() {
+		Robot.arm.setArmSpeeds(0);
 	}
-
+	
 	@Override
-	protected boolean isFinished() {
-		// TODO Auto-generated method stub
-		return false;
+	protected void interrupted() {
+		end();
 	}
 
 }
-- 
2.30.2