delete commands that moved intake arm to a specific angle

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / intakearm / MoveIntakeArmToAngle.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java
deleted file mode 100644 (file)
index 510146c..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java
+++ /dev/null
@@ -1,68 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.intakearm;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class MoveIntakeArmToAngle extends Command {
-  private double currentAngle;
-  private double targetAngle;
-  private double targetSpeed;
-  private double calculatedSpeed;
-  private double SENSITIVITY_THRESHOLD = 0.1;
-  private double MIN_SPEED = .3;
-
-  public MoveIntakeArmToAngle(double angle, double speed) {
-    requires(Robot.intakeArm);
-    targetAngle = angle;
-    targetSpeed = speed;
-
-  }
-
-  @Override
-  protected void initialize() {
-
-    // set the arm speed to the calculated angle
-    double speed = getCalculatedSpeed();
-
-    if (speed < MIN_SPEED && speed > 0)
-      speed = Math.signum(getCalculatedSpeed()) * MIN_SPEED;
-    Robot.intakeArm.setArmSpeed(speed);
-  }
-
-  @Override
-  protected void execute() {
-    // set the arm speed to the calculated angle
-    Robot.intakeArm.setArmSpeed(calculatedSpeed);
-  }
-
-  private double getError() {
-    // targetAngle - currentAngle = error
-    return Robot.intakeArm.getArmAngle() - targetAngle;
-  }
-
-  private double getCalculatedSpeed() {
-    // if the arm has to move up -- the speed will be +
-    // if the arm has to move down -- the speed will be -
-
-    return (getError() / targetAngle) * targetSpeed;
-  }
-
-  @Override
-  protected boolean isFinished() {
-    // if the arm's angle is close enough to the target value return true
-    // else return false
-    return (Math.abs(getError()) <= SENSITIVITY_THRESHOLD);
-  }
-
-  @Override
-  protected void end() {
-    Robot.intakeArm.stop();
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
-  }
-
-}