From 83d7f03184e9ec69b68b11fb3b9e3d32e2bc2f5e Mon Sep 17 00:00:00 2001 From: Shaina Chen Date: Thu, 11 Feb 2016 19:19:41 -0800 Subject: [PATCH] delete setHandToLevel command --- .../robot/commands/SetHandToLevel.java | 54 ------------------- 1 file changed, 54 deletions(-) delete mode 100755 src/org/usfirst/frc/team3501/robot/commands/SetHandToLevel.java diff --git a/src/org/usfirst/frc/team3501/robot/commands/SetHandToLevel.java b/src/org/usfirst/frc/team3501/robot/commands/SetHandToLevel.java deleted file mode 100755 index 28dd418f..00000000 --- a/src/org/usfirst/frc/team3501/robot/commands/SetHandToLevel.java +++ /dev/null @@ -1,54 +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 SetHandToLevel extends Command { - private static final double THRESHOLD = 0.1; - private double speed; - private double targetPosition; - private double currentPosition; - - public SetHandToLevel(double speed, int level) { - requires(Robot.defenseArm); - - this.speed = speed; - this.targetPosition = Robot.defenseArm.getAngleForHandLocation(level); - } - - @Override - protected void initialize() { - currentPosition = Robot.defenseArm.getHandPotAngle(); - - if (currentPosition > targetPosition) { - Robot.defenseArm.setHandSpeed(-speed); - } else { - Robot.defenseArm.setHandSpeed(speed); - } - - } - - @Override - protected void execute() { - } - - @Override - protected boolean isFinished() { - currentPosition = Robot.defenseArm.getHandPotAngle(); - - double difference = Math.abs(currentPosition - targetPosition); - return (difference <= THRESHOLD); - } - - @Override - protected void end() { - Robot.defenseArm.setHandSpeed(0); - } - - @Override - protected void interrupted() { - end(); - } - -} -- 2.30.2