From: Meryem Esa <meresa14@gmail.com>
Date: Tue, 16 Feb 2016 19:59:35 +0000 (-0800)
Subject: write pre/post conditions comments and pseudo code
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=ee26ec151d61d147fc13d28e44fc3cfcfa8663ae

write pre/post conditions comments and pseudo code
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java
new file mode 100755
index 00000000..bccdc7d0
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java
@@ -0,0 +1,39 @@
+package org.usfirst.frc.team3501.robot.commands.intakearm;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+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 {
+
+  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
+     *
+     */
+
+  }
+}