--- /dev/null
+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 MoveToLevel extends Command{
+
+ int targetLevel, currentLevel;
+
+ public MoveToLevel(int targetLevel) {
+ this.targetLevel = targetLevel;
+ }
+
+ @Override
+ protected void initialize() {
+
+ }
+
+ @Override
+ protected void execute() {
+ Robot.arm.setArmSpeeds(RobotMap.ARM_LOW_SPEED);
+ }
+
+ @Override
+ protected boolean isFinished() {
+ if(currentLevel == targetLevel) return true;
+ return false;
+ }
+
+ @Override
+ protected void end() {
+ Robot.arm.setArmSpeeds(0);
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
+
+}
+++ /dev/null
-package org.usfirst.frc3501.RiceCatRobot.commands;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class MoveUpLevel extends Command{
-
- int targetLevel, currentLevel;
-
- public MoveUpLevel(int targetLevel) {
- this.targetLevel = targetLevel;
- }
-
- @Override
- protected void end() {
- // TODO Auto-generated method stub
-
- }
-
- @Override
- protected void execute() {
- // TODO Auto-generated method stub
-
- }
-
- @Override
- protected void initialize() {
- // TODO Auto-generated method stub
-
- }
-
- @Override
- protected void interrupted() {
- // TODO Auto-generated method stub
-
- }
-
- @Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
- return false;
- }
-
-}