<commit_before>package org.usfirst.frc.team4342.robot.commands.teleop;

import org.usfirst.frc.team4342.robot.subsystems.TankDrive;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 *
 */
public class AlignHook extends TeleopCommand 
{
	private enum HookState 
    {
    	START, FIX, FINISHING, FINISHED
    }
	
	private TankDrive drive;
	
	private HookState hookState;
	
	private double yudist, xudist, udist, ydist, xdist, dist;
	private double sensorAngle, changeAngle, otherAngle;
	private final double FINAL_DIST = 36, ULTRA_DIST = 14.5 / 2, TAPE_DIST = 4.1;

    public AlignHook(TankDrive drive)
    {
    	super();
    	
    	this.requires(drive);
    	
    	this.drive = drive;
    }
    
    @Override
    protected void initialize() 
    {
    	SmartDashboard.putNumber("First Angle -", 0.0);
		SmartDashboard.putNumber("Change in Angle -", 0.0);
		SmartDashboard.putNumber("other Angle -", 0.0);
		SmartDashboard.putNumber("Ultra Dist -", 0.0);
		SmartDashboard.putNumber("Ultra Y Dist -", 0.0);
		SmartDashboard.putNumber("Ultra X Dist -", 0.0);
		SmartDashboard.putNumber("X Dist -", 0.0);
		SmartDashboard.putNumber("Y Dist -", 0.0);
		SmartDashboard.putNumber("Dist -", 0.0);
		
    	drive.enablePID();
    	hookState = HookState.START;
    }
<commit_msg>to come back to<commit_after>package org.usfirst.frc.team4342.robot.commands.teleop;

import org.usfirst.frc.team4342.robot.subsystems.TankDrive;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 *
 */
public class AlignHook extends TeleopCommand 
{
	private enum HookState 
    {
    	START, FIX, FINISHING, FINISHED
    }
	
	private TankDrive drive;
	
	private HookState hookState;
	
	private double yudist, xudist, udist, ydist, xdist, dist;
	private double sensorAngle, changeAngle, otherAngle;
	private final double FINAL_DIST = 36, ULTRA_DIST = 14.5, TAPE_DIST = 4.1;

    public AlignHook(TankDrive drive)
    {
    	super();
    	
    	this.requires(drive);
    	
    	this.drive = drive;
    }
    
    @Override
    protected void initialize() 
    {
    	SmartDashboard.putNumber("First Angle -", 0.0);
		SmartDashboard.putNumber("Change in Angle -", 0.0);
		SmartDashboard.putNumber("other Angle -", 0.0);
		SmartDashboard.putNumber("Ultra Dist -", 0.0);
		SmartDashboard.putNumber("Ultra Y Dist -", 0.0);
		SmartDashboard.putNumber("Ultra X Dist -", 0.0);
		SmartDashboard.putNumber("X Dist -", 0.0);
		SmartDashboard.putNumber("Y Dist -", 0.0);
		SmartDashboard.putNumber("Dist -", 0.0);
		
    	drive.enablePID();
    	hookState = HookState.START;
    }

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