| 1 | package org.usfirst.frc.team3501.robot.commands.intakearm; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants.IntakeArm; |
| 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 | |
| 27 | addSequential(new MoveIntakeArmToAngle(Robot.intakeArm.potAngles[level], |
| 28 | IntakeArm.DEFAULT_INTAKE_ARM_SPEED)); |
| 29 | |
| 30 | } |
| 31 | } |