delete commands that moved intake arm to a specific angle

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java b/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java
index 7e3ba9dcc54fa88326beb4834c368d95652a37e4..8596cd3b894fe4924e037c6d47d090a7f6227cc9 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/CompactRobot.java
@@ -1,8 +1,5 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
-import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle;
-import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
-
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
@@ -10,8 +7,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class CompactRobot extends CommandGroup {
 
+  // TODO: implement CompactRobot with updated Robot capabilities
   public CompactRobot() {
-    addSequential(new MoveIntakeArmToAngle(IntakeArm.potAngles[3],
-        IntakeArm.moveIntakeArmSpeed));
+
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java
deleted file mode 100644 (file)
index 510146c..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToAngle.java
+++ /dev/null
@@ -1,68 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.intakearm;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class MoveIntakeArmToAngle extends Command {
-  private double currentAngle;
-  private double targetAngle;
-  private double targetSpeed;
-  private double calculatedSpeed;
-  private double SENSITIVITY_THRESHOLD = 0.1;
-  private double MIN_SPEED = .3;
-
-  public MoveIntakeArmToAngle(double angle, double speed) {
-    requires(Robot.intakeArm);
-    targetAngle = angle;
-    targetSpeed = speed;
-
-  }
-
-  @Override
-  protected void initialize() {
-
-    // set the arm speed to the calculated angle
-    double speed = getCalculatedSpeed();
-
-    if (speed < MIN_SPEED && speed > 0)
-      speed = Math.signum(getCalculatedSpeed()) * MIN_SPEED;
-    Robot.intakeArm.setArmSpeed(speed);
-  }
-
-  @Override
-  protected void execute() {
-    // set the arm speed to the calculated angle
-    Robot.intakeArm.setArmSpeed(calculatedSpeed);
-  }
-
-  private double getError() {
-    // targetAngle - currentAngle = error
-    return Robot.intakeArm.getArmAngle() - targetAngle;
-  }
-
-  private double getCalculatedSpeed() {
-    // if the arm has to move up -- the speed will be +
-    // if the arm has to move down -- the speed will be -
-
-    return (getError() / targetAngle) * targetSpeed;
-  }
-
-  @Override
-  protected boolean isFinished() {
-    // if the arm's angle is close enough to the target value return true
-    // else return false
-    return (Math.abs(getError()) <= SENSITIVITY_THRESHOLD);
-  }
-
-  @Override
-  protected void end() {
-    Robot.intakeArm.stop();
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
-  }
-
-}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToLevel.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToLevel.java
deleted file mode 100755 (executable)
index 11a9527..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArmToLevel.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.intakearm;
-
-import org.usfirst.frc.team3501.robot.Constants.IntakeArm;
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/**
- * This command group will move the arm to the specified level. Levels
- * correspond to the angles stored in the potAngles array list saved in the
- * IntakeArm subsystem. (starting from level 0)
- *
- * pre-condition: level >= 0 && level < potAngles.length
- *
- * post-condition: arm has moved to specified level
- *
- * @author Meryem
- */
-public class MoveIntakeArmToLevel extends CommandGroup {
-
-  public MoveIntakeArmToLevel(int level) {
-    requires(Robot.intakeArm);
-
-    if (level < 0 || level >= Robot.intakeArm.potAngles.length)
-      this.end();
-
-    addSequential(new MoveIntakeArmToAngle(Robot.intakeArm.potAngles[level],
-        IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
-
-  }
-}

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 (executable)
index 9852a1c..0000000
--- 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));
-
-    }
-
-  }
-}