From: Meryem Esa <meresa14@gmail.com>
Date: Tue, 16 Feb 2016 20:58:11 +0000 (-0800)
Subject: change angle contstants to use potValues array
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=7952bc91fc54a06c701b407db4f67dfef0452707

change angle contstants to use potValues array
---

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 f877cc64..9852a1c0 100755
--- 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));