+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands.intakearm;
-
-import org.usfirst.frc.team3501.robot.Robot;
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/**
- * This command group uses the intake arm to push down the moving parts of the
- * cheval de frise so that the robot can drive over it
- *
- * pre-condition: the robot is flush against the border of the outerworks (flush
- * against the ramp)
- *
- * post condition: intake arm has pushed the cheval de frise down
- *
- */
-public class PushDownChevalDeFrise extends CommandGroup {
- // distances are in inches
- private final double MIN_ANGLE = Robot.intakeArm.potAngles[2]; // TODO: find
- // min angle
- // the intake
- // arm has
- // to be to be over the cheval de frise
- private final double RAMP_DIST = 12;
- private final double MAX_TIMEOUT_RAMP = 1; // TODO: check that one second is
- // enough
- private final double LOWEST_ANGLE = Robot.intakeArm.potAngles[0];
- private final double DEFAULT_ARM_SPEED = 0.4;
-
- public PushDownChevalDeFrise() {
- requires(Robot.intakeArm);
- /**
- * if the arm is high enough - above cheval de frise height (find this from
- * the potangle)
- *
- * go forward until arm is over cheval de frise
- *
- * move arm down to floor level -- or as much as possible
- * -------------------------------------------------------------------------
- *
- * if the arm is beneath the cheval de frise
- *
- * move the arm up so it's high enough
- *
- * move forward a little
- *
- * move arm down
- **/
-
- if (Robot.intakeArm.getArmAngle() > MIN_ANGLE) {
- addSequential(new DriveDistance(RAMP_DIST, MAX_TIMEOUT_RAMP));
- addSequential(new MoveIntakeArmToAngle(LOWEST_ANGLE, DEFAULT_ARM_SPEED));
-
- } else {
- addSequential(new MoveIntakeArmToAngle(MIN_ANGLE + 3, DEFAULT_ARM_SPEED)); // TODO:
- // check that adding
- // 3 is correct
-
- addSequential(new DriveDistance(RAMP_DIST, MAX_TIMEOUT_RAMP));
- addSequential(new MoveIntakeArmToAngle(LOWEST_ANGLE, DEFAULT_ARM_SPEED));
-
- }
-
- }
-}