<commit_before>package org.usfirst.frc.team1719.robot.commands;

import org.usfirst.frc.team1719.robot.Robot;

import edu.wpi.first.wpilibj.command.Command;
/**
 * Default command for the arm, drives it according to the Operator Joystick
 * @author aaroneline
 *
 */
public class UseArm extends Command{

	final double TOLERANCE = 0.1;
	final double CONTROL_SCALING = .75;
	
	public UseArm(){
		requires(Robot.arm);
	}
	@Override
	protected void initialize() {
		
		
	}

	@Override
	protected void execute() {
		double joystickReading = Robot.oi.getArmReading();
		//Apply control scaling
		double motorSpeed = joystickReading * CONTROL_SCALING;
		if(Math.abs(joystickReading)<TOLERANCE){
			motorSpeed = 0;
		}
		Robot.arm.move(motorSpeed);
		System.out.println("Arm Angle: "+Robot.arm.getArmAngle());
		
	}

	@Override
	protected boolean isFinished() {
		return true;
	}

	@Override
	protected void end() {
		
	}

	@Override
	protected void interrupted() {
		
	}

}<commit_msg>Added constant steady to arm (NOT DONE)<commit_after>package org.usfirst.frc.team1719.robot.commands;

import org.usfirst.frc.team1719.robot.Robot;
import org.usfirst.frc.team1719.robot.RobotMap;

import edu.wpi.first.wpilibj.command.Command;
/**
 * Default command for the arm, drives it according to the Operator Joystick
 * @author aaroneline
 *
 */
public class UseArm extends Command{

	final double TOLERANCE = 0.1;
	final double CONTROL_SCALING = .75;
	
	public UseArm(){
		requires(Robot.arm);
	}
	@Override
	protected void initialize() {
		
		
	}

	@Override
	protected void execute() {
		double joystickReading = Robot.oi.getArmReading();
		//Apply control scaling
		double motorSpeed = joystickReading * CONTROL_SCALING;
		if(Math.abs(joystickReading)<TOLERANCE){
			motorSpeed = 0.2;
		}
		Robot.arm.move( motorSpeed);
		System.out.println("Arm angle: " + RobotMap.armPot.get());
	}

	@Override
	protected boolean isFinished() {
		return true;
	}

	@Override
	protected void end() {
		
	}

	@Override
	protected void interrupted() {
		
	}

}
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