challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java

   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 }