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851fe508 ME |
1 | package org.usfirst.frc.team3501.robot.commands.intakearm; |
2 | ||
4f0ad0ba | 3 | import org.usfirst.frc.team3501.robot.Constants.IntakeArm; |
851fe508 ME |
4 | import org.usfirst.frc.team3501.robot.Robot; |
5 | ||
6 | import edu.wpi.first.wpilibj.command.CommandGroup; | |
7 | ||
8 | /** | |
9 | * This command group will move the arm to the specified level. Levels | |
10 | * correspond to the angles stored in the potAngles array list saved in the | |
11 | * IntakeArm subsystem. (starting from level 0) | |
12 | * | |
13 | * pre-condition: level >= 0 && level < potAngles.length | |
14 | * | |
15 | * post-condition: arm has moved to specified level | |
16 | * | |
17 | * @author Meryem | |
18 | */ | |
19 | public class MoveIntakeArmToLevel extends CommandGroup { | |
20 | ||
21 | public MoveIntakeArmToLevel(int level) { | |
22 | requires(Robot.intakeArm); | |
23 | ||
24 | if (level < 0 || level >= Robot.intakeArm.potAngles.length) | |
25 | this.end(); | |
26 | ||
4f0ad0ba ME |
27 | addSequential(new MoveIntakeArmToAngle(Robot.intakeArm.potAngles[level], |
28 | IntakeArm.DEFAULT_INTAKE_ARM_SPEED)); | |
851fe508 ME |
29 | |
30 | } | |
31 | } |