allwpilib/wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/SetPivotSetpoint.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <Commands/Command.h>

/**
 * Moves the  pivot to a given angle. This command finishes when it is within
 * the tolerance, but leaves the PID loop running to maintain the position.
 * Other commands using the pivot should make sure they disable PID!
 */
class SetPivotSetpoint : public frc::Command {
 public:
  explicit SetPivotSetpoint(double setpoint);
  void Initialize() override;
  bool IsFinished() override;

 private:
  double m_setpoint;
};