double horizontalLimit, height;
+ public static final double ARM_SPEED = 0.6;
+
public MoveDefenseArmVertical(double horizontalLimit, double height) {
this.horizontalLimit = horizontalLimit;
this.height = height;
+ double targetArmAngle = calculateTargetArmAngle();
+ double targetHandAngle = calculateTargetHandAngle();
+ double handSpeed = ARM_SPEED * targetHandAngle / targetArmAngle;
+ addParallel(new SetArmToAngle(ARM_SPEED, calculateTargetArmAngle()));
+ addParallel(new SetHandToAngle(handSpeed, calculateTargetHandAngle()));
}
protected double calculateTargetArmAngle() {
return handAngle;
}
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
public double square(double num) {
return num * num;
}
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
- }
}