X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fintakearm%2FPushDownChevalDeFrise.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fintakearm%2FPushDownChevalDeFrise.java;h=0000000000000000000000000000000000000000;hp=9852a1c0cbc9c03fd1453a261d2483f6b413d72a;hb=027452180cc75fa58cd6305d9eb351ec64b2345f;hpb=5cff891038f613483040c7f1a2b5b554adcd3313

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java
deleted file mode 100755
index 9852a1c0..00000000
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java
+++ /dev/null
@@ -1,66 +0,0 @@
-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));
-
-    }
-
-  }
-}