Added HangingCommand

src/main/java/competition/subsystems/arm/ArmSubsystem.java

@@ -41,6 +41,7 @@ public class ArmSubsystem extends BaseSetpointSubsystem<Double> implements DataF
 
     public double extendPower;
     public double retractPower;
+    public double hangPower;
 
     public final DoubleProperty powerMax;
     public final DoubleProperty powerMin;
@@ -85,6 +86,7 @@ public class ArmSubsystem extends BaseSetpointSubsystem<Double> implements DataF
     public enum ArmState {
         EXTENDING,
         RETRACTING,
+        HANGING,
         STOPPED
     }
 
@@ -125,6 +127,7 @@ public ArmSubsystem(PropertyFactory pf, XCANSparkMax.XCANSparkMaxFactory sparkMa
         setBrakeEnabled(false);
         extendPower = 0.1;
         retractPower = -0.1;
+        hangPower = -0.2;
 
         powerMax = pf.createPersistentProperty("PowerMax", 0.45);
         powerMin = pf.createPersistentProperty("PowerMin", -0.25);
@@ -416,6 +419,11 @@ public void retract() {
         armState = ArmState.RETRACTING;
     }
 
+    public void hang() {
+        setPower(hangPower);
+        armState = ArmState.HANGING;
+    }
+
     public void stop() {
         setPower(0.0);
         armState = ArmState.STOPPED;

src/main/java/competition/subsystems/arm/commands/HangingCommand.java

@@ -0,0 +1,28 @@
+package competition.subsystems.arm.commands;
+
+import competition.electrical_contract.ElectricalContract;
+import competition.subsystems.arm.ArmSubsystem;
+import xbot.common.command.BaseCommand;
+
+import javax.inject.Inject;
+
+public class HangingCommand extends BaseCommand {
+    ArmSubsystem armSubsystem;
+
+    @Inject
+    public HangingCommand(ArmSubsystem armSubsystem) {
+        addRequirements(armSubsystem);
+        this.armSubsystem = armSubsystem;
+    }
+
+    @Override
+    public void initialize() {
+        log.info("HangingCommand initializing");
+    }
+
+    @Override
+    public void execute() {
+        armSubsystem.hang();
+    }
+
+}