challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/defensearm/RetractDefenseArm.java

   1 package org.usfirst.frc.team3501.robot.commands.defensearm;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6
   7 /***
   8  * This command group simultaneously move arm and hand to retracted position.
   9  *
  10  * @author shaina
  11  *
  12  */
  13 public class RetractDefenseArm extends CommandGroup {
  14   static final double ARM_FULLY_RETRACTED_ANGLE = 0; // change value once tested
  15   static final double HAND_FULLY_RETRACTED_ANGLE = 0; // change value once
  16                                                       // tested
  17
  18   public RetractDefenseArm(double speed) {
  19     requires(Robot.defenseArm);
  20
  21     addParallel(new SetArmToAngle(speed, ARM_FULLY_RETRACTED_ANGLE));
  22     addParallel(new SetHandToAngle(speed, HAND_FULLY_RETRACTED_ANGLE));
  23   }
  24 }