Merge pull request #48 from DeepBlueRobotics/limelight2.0

autoaim arm to shoot

src/main/java/org/carlmontrobotics/commands/AimArmSpeaker.java

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.subsystems.Arm;
+import org.carlmontrobotics.subsystems.Limelight;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class AimArmSpeaker extends Command {
+  private final Arm arm;
+  private final Limelight ll;
+
+  /** Creates a new AimOuttakeSpeaker. */
+  public AimArmSpeaker(Arm arm, Limelight ll) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(this.arm = arm);
+    this.ll = ll;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    double goal = ll.getArmAngleToShootSpeakerRad();
+    arm.setArmTarget(goal);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}