*/
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() {
* move forward a little
*
* move arm down
- */
+ **/
if (Robot.intakeArm.getArmAngle() > MIN_ANGLE) {
addSequential(new DriveDistance(RAMP_DIST, MAX_TIMEOUT_RAMP));