separated arm commands

src/main/java/frc4388/robot/commands/PivotCommand.java

@@ -0,0 +1,30 @@
+// 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 frc4388.robot.commands;
+
+import frc4388.robot.subsystems.Arm;
+
+public class PivotCommand extends PelvicInflammatoryDisease {
+  private final Arm     arm;
+  private final double  target;
+  
+  /** Creates a new ArmCommand. */
+  public PivotCommand(Arm arm, double target) {
+    super(0.6, 0, 0, 0, 0);
+    this.arm    = arm;
+    this.target = target;
+    addRequirements(arm);
+  }
+
+  @Override
+  public double getError() {
+    return (arm.getArmRotation() - target) / 360;
+  }
+
+  @Override
+  public void runWithOutput(double output) {
+    arm.setRotVel(output);
+  }
+}