delete anything to do with pots and motors in IntakeArm and Constants, add the left...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / intakearm / PushDownChevalDeFrise.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java
index f877cc64721cda24368244233111c76f27320ddc..9852a1c0cbc9c03fd1453a261d2483f6b413d72a 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java
@@ -17,12 +17,15 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class PushDownChevalDeFrise extends CommandGroup {
   // distances are in inches
-  private final double MIN_ANGLE = 0; // TODO: find min angle the intake arm has
-                                      // to be to be over the cheval de frise
+  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 = 0; // TODO: find angle
+  private final double LOWEST_ANGLE = Robot.intakeArm.potAngles[0];
   private final double DEFAULT_ARM_SPEED = 0.4;
 
   public PushDownChevalDeFrise() {
@@ -43,7 +46,7 @@ public class PushDownChevalDeFrise extends CommandGroup {
      * move forward a little
      *
      * move arm down
-     */
+     **/
 
     if (Robot.intakeArm.getArmAngle() > MIN_ANGLE) {
       addSequential(new DriveDistance(RAMP_DIST, MAX_TIMEOUT_RAMP));