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

   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 }