From b2d340ccaf26feb89b89a2caa9bcc5d3e29ca530 Mon Sep 17 00:00:00 2001
From: Shivani Oghanta <shivani.oghanta@gmail.com>
Date: Sat, 6 Feb 2016 16:20:20 -0800
Subject: [PATCH] fill MoveIntakeArm command

---
 .../robot/commands/MoveIntakeArm.java         | 29 +++++++++++++++----
 1 file changed, 24 insertions(+), 5 deletions(-)

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
-- 
2.30.2