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.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 }