From ee26ec151d61d147fc13d28e44fc3cfcfa8663ae Mon Sep 17 00:00:00 2001 From: Meryem Esa Date: Tue, 16 Feb 2016 11:59:35 -0800 Subject: [PATCH] write pre/post conditions comments and pseudo code --- .../intakearm/PushDownChevalDeFrise.java | 39 +++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100755 src/org/usfirst/frc/team3501/robot/commands/intakearm/PushDownChevalDeFrise.java 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 + * + */ + + } +} -- 2.30.2