package org.robockets.stronghold.robot.intake;

import org.robockets.stronghold.robot.Robot;
import org.robockets.stronghold.robot.drivetrain.AssistedDrive;
import org.robockets.stronghold.robot.drivetrain.AssistedRotateType;
import org.robockets.stronghold.robot.drivetrain.AssistedTranslateType;

import edu.wpi.first.wpilibj.command.CommandGroup;

/**
 *
 */
public class ChevalDeFrise extends CommandGroup {
	
	double encooder; // Dummy variable for now until a method is made for receiving encoder output
	// Assuming position fully down is 0 and fully up is 90.
    public ChevalDeFrise() { 	
    	Robot.driveTrain.gyroPID.setSetpoint(0); // 0 for now -Jake B. 2016
    	if (encooder > 80) { // Temporary way to check if arm is up
    		addSequential(new SetIntake(0));
    	} else if (encooder < 80) { // Temporary way to check if arm is down
    		addSequential(new SetIntake(90));
    		addSequential(new SetIntake(0));
    	}
    	
        addSequential(new AssistedDrive(AssistedTranslateType.ENCODER, AssistedRotateType.GYRO, 1, 0)); // Dummy inputs for distance and relativeAngle
    	addParallel(new SetIntake(90)); // Slowly lift arm as robot moves across
    }
}

@@ -590,14 +590,35 @@
 ise(
+IntakeSide intakeSide
 ) %7B %09%0A
-
     
@@ -778,32 +778,44 @@
 (new SetIntake(0
+, intakeSide
 ));%0A    %09%7D else 
@@ -912,16 +912,28 @@
 ntake(90
+, intakeSide
 ));%0A    
@@ -963,16 +963,28 @@
 Intake(0
+, intakeSide
 ));%0A    
@@ -1143,16 +1143,16 @@
 veAngle%0A
-
     %09add
@@ -1176,16 +1176,28 @@
 ntake(90
+, intakeSide
 )); // S

Update cheval de frise to be used with updated intake