/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package edu.wpi.first.wpilibj.templates.commands;

import edu.wpi.first.wpilibj.templates.DigitalServo;

/**
 *
 * @author Brinton
 *
 *
 */
public class LeftSetRodAngleFree extends CommandBase {

    
    private double goalTapeLength;
    private double error;
    private double dGoaltAng;
    
    

    public LeftSetRodAngleFree( double dTAng, double T) {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(leftrod);
        goalTapeLength = T;
        // angle of the tape relative to the frame in degrees
        dGoaltAng = dTAng;

    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    /** Called repeatedly when this Command is scheduled to run
     * This moves the servo slowly toward a given target angle. 
     * The  servo speed is reduced to
     *.33 of its maximum, about 50 degrees per second
     * This has two advantages. 
     * It does not jerk the rods around.
     * It causes the tape and rod movements to occur at similar rates. The risk
     * with allowing the rod to move quickly to position while the tape is moving 
     * slowly is that the servo may think it is finished while the tape is still 
     * moving
     */
    protected void execute() {
        // 
        leftrod.setRodAngleFree(.33, dGoaltAng);
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        //calulates final servo position for 
        double servValfinal;
        servValfinal =
     leftrod.calcServoFromAngle(true, Math.toRadians(dGoaltAng),goalTapeLength);
        double t;
        t= leftrod.getTapeLength();
        boolean tapeDone;
        tapeDone= (Math.abs(t-goalTapeLength)<.3);      
        boolean servDone;
        servDone=leftrod.isServoFinished(servValfinal);
        return (servDone & tapeDone);

    }

    // 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() {
    }
}

@@ -1547,16 +1547,81 @@
 ecute()%0A
+    // tapelength has reached goal%0A    // servo has reached goal%0A
     prot
@@ -1856,17 +1856,16 @@
       t=
- 
 leftrod.

test upload