Commit | Line | Data |
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ee26ec15 ME |
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 | } |