rename commands to set to level instead of angle

diff --git a/src/org/usfirst/frc/team3501/robot/commands/RetractDefenseArm.java b/src/org/usfirst/frc/team3501/robot/commands/RetractDefenseArm.java
index 8d530bee8679dae19016d0d0f349fc074e28f5ec..a073fa83e7a2c25dd5c9c5273ff7ec7d42076024 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/RetractDefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/RetractDefenseArm.java
@@ -9,7 +9,7 @@ public class RetractDefenseArm extends CommandGroup {
   public RetractDefenseArm(double speed, double retractPosition) {
     requires(Robot.defenseArm);
 
-    addParallel(new SetArmToAngle(speed, retractPosition));
-    addParallel(new SetHandToAngle(speed, retractPosition));
+    addParallel(new SetArmToLevel(speed, retractPosition));
+    addParallel(new SetHandToLevel(speed, retractPosition));
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/SetArmToAngle.java b/src/org/usfirst/frc/team3501/robot/commands/SetArmToAngle.java
deleted file mode 100755 (executable)
index 02d6e82..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/SetArmToAngle.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class SetArmToAngle extends Command {
-  private static final double THRESHOLD = 0.1;
-  private double speed;
-  private double targetPosition;
-  private double currentPosition;
-  private boolean isDecreasing = false;
-
-  public SetArmToAngle(double speed, double targetPosition) {
-    requires(Robot.defenseArm);
-
-    this.speed = speed;
-    this.targetPosition = targetPosition;
-  }
-
-  @Override
-  public void initialize() {
-    currentPosition = Robot.defenseArm.getArmPotAngle();
-
-    if (currentPosition > targetPosition) {
-      Robot.defenseArm.setArmSpeed(-speed);
-      isDecreasing = true;
-    } else {
-      Robot.defenseArm.setArmSpeed(speed);
-      isDecreasing = false;
-    }
-  }
-
-  @Override
-  public void execute() {
-
-  }
-
-  @Override
-  public boolean isFinished() {
-    currentPosition = Robot.defenseArm.getArmPotAngle();
-
-    if (isDecreasing == true) {
-      return (currentPosition <= targetPosition + THRESHOLD);
-    } else {
-      return (currentPosition >= targetPosition - THRESHOLD);
-    }
-  }
-
-  @Override
-  public void end() {
-    Robot.defenseArm.setArmSpeed(0);
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
-  }
-
-}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/SetArmToLevel.java b/src/org/usfirst/frc/team3501/robot/commands/SetArmToLevel.java
new file mode 100755 (executable)
index 0000000..7716629
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/SetArmToLevel.java
@@ -0,0 +1,60 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class SetArmToLevel extends Command {
+  private static final double THRESHOLD = 0.1;
+  private double speed;
+  private double targetPosition;
+  private double currentPosition;
+  private boolean isDecreasing = false;
+
+  public SetArmToLevel(double speed, double targetPosition) {
+    requires(Robot.defenseArm);
+
+    this.speed = speed;
+    this.targetPosition = targetPosition;
+  }
+
+  @Override
+  public void initialize() {
+    currentPosition = Robot.defenseArm.getArmPotAngle();
+
+    if (currentPosition > targetPosition) {
+      Robot.defenseArm.setArmSpeed(-speed);
+      isDecreasing = true;
+    } else {
+      Robot.defenseArm.setArmSpeed(speed);
+      isDecreasing = false;
+    }
+  }
+
+  @Override
+  public void execute() {
+
+  }
+
+  @Override
+  public boolean isFinished() {
+    currentPosition = Robot.defenseArm.getArmPotAngle();
+
+    if (isDecreasing == true) {
+      return (currentPosition <= targetPosition + THRESHOLD);
+    } else {
+      return (currentPosition >= targetPosition - THRESHOLD);
+    }
+  }
+
+  @Override
+  public void end() {
+    Robot.defenseArm.setArmSpeed(0);
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/SetHandToAngle.java b/src/org/usfirst/frc/team3501/robot/commands/SetHandToAngle.java
deleted file mode 100755 (executable)
index f7026b4..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/SetHandToAngle.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class SetHandToAngle extends Command {
-  private static final double THRESHOLD = 0.1;
-  private double speed;
-  private double targetPosition;
-  private double currentPosition;
-  private boolean isDecreasing = false;
-
-  public SetHandToAngle(double speed, double targetPosition) {
-    requires(Robot.defenseArm);
-
-    this.speed = speed;
-    this.targetPosition = targetPosition;
-  }
-
-  @Override
-  protected void initialize() {
-    currentPosition = Robot.defenseArm.getHandPotAngle();
-
-    if (currentPosition > targetPosition) {
-      Robot.defenseArm.setHandSpeed(-speed);
-      isDecreasing = true;
-    } else {
-      Robot.defenseArm.setHandSpeed(speed);
-      isDecreasing = false;
-    }
-
-  }
-
-  @Override
-  protected void execute() {
-  }
-
-  @Override
-  protected boolean isFinished() {
-    currentPosition = Robot.defenseArm.getHandPotAngle();
-
-    if (isDecreasing == true) {
-      return (currentPosition <= targetPosition + THRESHOLD);
-    } else {
-      return (currentPosition >= targetPosition - THRESHOLD);
-    }
-  }
-
-  @Override
-  protected void end() {
-    Robot.defenseArm.setHandSpeed(0);
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
-  }
-
-}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/SetHandToLevel.java b/src/org/usfirst/frc/team3501/robot/commands/SetHandToLevel.java
new file mode 100755 (executable)
index 0000000..dd42897
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/SetHandToLevel.java
@@ -0,0 +1,60 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class SetHandToLevel extends Command {
+  private static final double THRESHOLD = 0.1;
+  private double speed;
+  private double targetPosition;
+  private double currentPosition;
+  private boolean isDecreasing = false;
+
+  public SetHandToLevel(double speed, double targetPosition) {
+    requires(Robot.defenseArm);
+
+    this.speed = speed;
+    this.targetPosition = targetPosition;
+  }
+
+  @Override
+  protected void initialize() {
+    currentPosition = Robot.defenseArm.getHandPotAngle();
+
+    if (currentPosition > targetPosition) {
+      Robot.defenseArm.setHandSpeed(-speed);
+      isDecreasing = true;
+    } else {
+      Robot.defenseArm.setHandSpeed(speed);
+      isDecreasing = false;
+    }
+
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    currentPosition = Robot.defenseArm.getHandPotAngle();
+
+    if (isDecreasing == true) {
+      return (currentPosition <= targetPosition + THRESHOLD);
+    } else {
+      return (currentPosition >= targetPosition - THRESHOLD);
+    }
+  }
+
+  @Override
+  protected void end() {
+    Robot.defenseArm.setHandSpeed(0);
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+}