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