From: Meryem Esa <meresa14@gmail.com>
Date: Thu, 18 Feb 2016 00:43:17 +0000 (-0800)
Subject: add a min speed for the arm in move arm to angle command
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=e8dc1f31bbc19ca5c5322708a4c242dd20d34082

add a min speed for the arm in move arm to angle command
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java
index f00e62e1..510146cc 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java
@@ -10,6 +10,7 @@ public class MoveIntakeArmToAngle extends Command {
   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);
@@ -22,8 +23,11 @@ public class MoveIntakeArmToAngle extends Command {
   protected void initialize() {
 
     // set the arm speed to the calculated angle
-    Robot.intakeArm.setArmSpeed(getCalculatedSpeed());
+    double speed = getCalculatedSpeed();
 
+    if (speed < MIN_SPEED && speed > 0)
+      speed = Math.signum(getCalculatedSpeed()) * MIN_SPEED;
+    Robot.intakeArm.setArmSpeed(speed);
   }
 
   @Override