@@ -0,0 +1,1257 @@
+package org.robockets.stronghold.robot.intake;%0A%0Aimport org.robockets.stronghold.robot.Robot;%0Aimport org.robockets.stronghold.robot.drivetrain.AssistedDrive;%0Aimport org.robockets.stronghold.robot.drivetrain.AssistedRotateType;%0Aimport org.robockets.stronghold.robot.drivetrain.AssistedTranslateType;%0A%0Aimport edu.wpi.first.wpilibj.command.CommandGroup;%0A%0Apublic class BackwardsChevalDeFrise extends CommandGroup %7B%0A%09double encooder; // Dummy variable for now until a method is made for receiving encoder output%0A%09// Assuming position fully down is 0 and fully up is 90.%0A    public BackwardsChevalDeFrise(IntakeSide intakeSide) %7B %09%0A    %09Robot.driveTrain.gyroPID.setSetpoint(0); // 0 for now -Jake B. 2016 x2%0A    %09if (encooder %3E 80) %7B // Temporary way to check if arm is up%0A    %09%09addSequential(new SetIntake(0, intakeSide));%0A    %09%7D else if (encooder %3C 80) %7B // Temporary way to check if arm is down%0A    %09%09addSequential(new SetIntake(90, intakeSide));%0A    %09%09addSequential(new SetIntake(0, intakeSide));%0A    %09%7D%0A    %09%0A        addSequential(new AssistedDrive(AssistedTranslateType.ENCODER, AssistedRotateType.GYRO, -1, 0)); // Dummy inputs for distance and relativeAngle%0A    %09addParallel(new SetIntake(90, intakeSide)); // Slowly lift arm as robot moves across%0A    %7D%0A%7D%0A

Add backwards cheval de frise command group