| 1 | package org.usfirst.frc.team3501.robot.commands.intakearm; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Robot; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 6 | |
| 7 | /** |
| 8 | * This command group uses the intake arm to push down the moving parts of the |
| 9 | * cheval de frise so that the robot can drive over it |
| 10 | * |
| 11 | * pre-condition: the robot is flush against the border of the outerworks (flush |
| 12 | * against the ramp) |
| 13 | * |
| 14 | * post condition: intake arm has pushed the cheval de frise down |
| 15 | * |
| 16 | */ |
| 17 | public class PushDownChevalDeFrise extends CommandGroup { |
| 18 | |
| 19 | public PushDownChevalDeFrise() { |
| 20 | requires(Robot.intakeArm); |
| 21 | /** |
| 22 | * if the arm is high enough - above cheval de frise height (find this from |
| 23 | * the potangle) |
| 24 | * |
| 25 | * go forward until arm is over cheval de frise |
| 26 | * |
| 27 | * move arm down to floor level -- or as much as possible |
| 28 | * ------------------------------------------------------------------------- |
| 29 | * |
| 30 | * if the arm is beneath the cheval de frise |
| 31 | * |
| 32 | * move the arm up so it's high enough |
| 33 | * |
| 34 | * move forward a little |
| 35 | * |
| 36 | */ |
| 37 | |
| 38 | } |
| 39 | } |