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package org.team2168.commands.shooterhood;
import org.team2168.Robot;
import org.team2168.RobotMap;
import edu.wpi.first.wpilibj.command.Command;
/**
*This command sets the angle of the DriveShooterHood motor
*@author Harris Jilani
*/
public class DriveShooterHoodToAngle extends Command {
double angle;
/**
* This is the constructor which sets inputAngle to the double angle
* @param takes in inputAngle
*/
public DriveShooterHoodToAngle(double inputAngle) {
// Use requires() here to declare subsystem dependencies
requires(Robot.shooterhood);
angle = inputAngle;
}
// Called just before this Command runs the first time
protected void initialize() {
}
/**
* takes in a double angle for the motor's position and moves motor to said position
*/
// Called repeatedly when this Command is scheduled to run
protected void execute() {
Robot.shooterhood.setAngle(angle);
}
/**
* when the angle of the motor equals the set angle, the command terminates
*/
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
if (Robot.shooterhood.getAngle() == angle)
return true;
else
return false;
}
// Called once after isFinished returns true
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {
}
}