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Possible fix and log for autosetarmposition

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This commit is contained in:
Austen Adler 2016-09-22 10:19:48 -04:00
parent 8a5f7f7877
commit fc7c6545a4
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GPG Key ID: 7ECEE590CCDFE3F1
1 changed files with 3 additions and 5 deletions
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src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java
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@ -18,16 +18,14 @@ public class AutoSetArmPosition extends CommandBase {
protected void execute() { protected void execute() {
mainArm.enable(); mainArm.enable();
mainArm.setSetpoint(pos); mainArm.setSetpoint(pos);
System.out.println(pos-mainArm.getDegrees()); System.out.println(pos - mainArm.getDegrees());
System.out.println(mainArm.getDegrees()); System.out.println(mainArm.getDegrees());
} }
// Make this return true when this Command no longer needs to run execute() // Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() { protected boolean isFinished() {
// Stop when either limit switch is hit // Stop when either limit switch is hit
if(Math.abs(pos-mainArm.getDegrees()) <= 1){ System.out.println("AutoSetArmPosition.isFinished(): " + (Math.abs(pos - mainArm.getDegrees()) <= 1));
return false; return Math.abs(pos - mainArm.getDegrees()) <= 1;
}
return false;
} }
// Called once after isFinished returns true // Called once after isFinished returns true
protected void end() { protected void end() {