// RobotBuilder Version: 0.0.2
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in th future.
package org.usfirst.frc330.Beachbot2013Java.commands;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc330.Beachbot2013Java.Robot;
/*
 * $Log: ArmLowPickup.java,v $
 * Revision 1.10  2013-03-15 03:14:42  echan
 * Removed holdArmOff/On and the brake arm solenoid
 *
 * Revision 1.9  2013-03-15 02:58:57  echan
 * robotbuilder update
 *
 * Revision 1.8  2013-03-15 02:50:23  echan
 * added cvs log comments
 *
 */
/**
 * Move the arm to the pickup position position. The pickup position is defined by
 * the preference "armSetpointLowPickup".
 */
public class  ArmLowPickup extends Command {
    public ArmLowPickup() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
	
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
        requires(Robot.arm);
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
    }
    double timer;
    // Called just before this Command runs the first time
    protected void initialize() {
        timer = Timer.getFPGATimestamp() + Robot.arm.armWaitPickup();
        Robot.arm.disable();
        Robot.arm.armSetPointLowPickup();
    }
    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        if (Robot.frisbeePickup.isPickupDown() && Timer.getFPGATimestamp() > timer) {
            if(!Robot.arm.isEnable())
            Robot.arm.enable();
        }
    }
    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return Robot.arm.onTarget();
    }
    // 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() {
    }
    public void setParam1(double param1) {
    }
    public void setParam2(double param2) {
    }
    public void setParam3(double param3) {
    }
    public void setStopAtEnd(boolean stopAtEnd) {
    }
    public Command copy() {
        return new ArmLowPickup();
    }
}

// RobotBuilder Version: 0.0.2
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in th future.
package org.usfirst.frc330.Beachbot2013Java.commands;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc330.Beachbot2013Java.Robot;
/*
 * $Log: ArmLowPickup.java,v $
 * Revision 1.11  2013-03-16 21:17:47  jross
 * add javadocs
 *
 * Revision 1.10  2013-03-15 03:14:42  echan
 * Removed holdArmOff/On and the brake arm solenoid
 *
 * Revision 1.9  2013-03-15 02:58:57  echan
 * robotbuilder update
 *
 * Revision 1.8  2013-03-15 02:50:23  echan
 * added cvs log comments
 *
 */
/**
 * Move the arm to the pickup position position. The pickup position is defined by
 * the preference "armSetpointLowPickup".
 */
public class  ArmLowPickup extends Command {
    public ArmLowPickup() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
	
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
        requires(Robot.arm);
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
    }
    double timer;
    // Called just before this Command runs the first time
    protected void initialize() {
        Robot.arm.disable();
        Robot.frisbeePickup.setFrisbeePickupDown();
        timer = Robot.frisbeePickup.getPickupDownTime() + Robot.arm.armWaitPickup();
        Robot.arm.armSetPointLowPickup();
    }
    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        if (Robot.frisbeePickup.isPickupDown() && Timer.getFPGATimestamp() > timer) {
            if(!Robot.arm.isEnable())
                Robot.arm.enable();
        }
    }
    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return Robot.arm.onTarget();
    }
    // 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() {
    }
    public void setParam1(double param1) {
    }
    public void setParam2(double param2) {
    }
    public void setParam3(double param3) {
    }
    public void setStopAtEnd(boolean stopAtEnd) {
    }
    public Command copy() {
        return new ArmLowPickup();
    }
}

use pickup down time