got stuff done

src/main/java/frc/robot/OperatorInterface.java

@@ -25,6 +25,7 @@
 import frc.robot.commands.FlipStop;
 import frc.robot.commands.HatchExtend;
 import frc.robot.commands.HatchRetract;
+import frc.robot.commands.LoosenAndDeploy;
 import frc.robot.commands.NudgeLeft;
 import frc.robot.commands.NudgeRight;
 import frc.robot.commands.SquareUpCommand;
@@ -187,11 +188,11 @@ protected void createCommands() {
     povButtonDown.whenReleased(new CancelSquareUpCommand(this.robot.getDriveSubsystem()) );
 
     // Arms Subsystem
-    armsDeployButton.whenPressed(new ArmsDeploy(this.robot.getArmsSubsystem()));
+    armsDeployButton.whenPressed(new LoosenAndDeploy(robot.getFlipSubsystem(), robot.getArmsSubsystem()));
     armsSqueezeButton.whenPressed(new ArmsSqueeze(this.robot.getArmsSubsystem()));
     armsReleaseButton.whenPressed(new ArmsRelease(this.robot.getArmsSubsystem()));
     armsReverseButton.whenPressed(new ReverseDeploy(this.robot.getArmsSubsystem()));
-    panelArmsDeployButton.whenPressed(new ArmsDeploy(this.robot.getArmsSubsystem()));
+    panelArmsDeployButton.whenPressed(new LoosenAndDeploy(robot.getFlipSubsystem(), robot.getArmsSubsystem()));
     panelArmsSqueezeButton.whenPressed(new ArmsSqueeze(this.robot.getArmsSubsystem()));
     panelArmsReleaseButton.whenPressed(new ArmsRelease(this.robot.getArmsSubsystem()));
 

src/main/java/frc/robot/commands/LoosenAndDeploy.java

@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import frc.robot.commands.LoosenFlipRope;
+import frc.robot.commands.ArmsDeploy;
+import frc.robot.subsystems.ArmsSubsystem;
+import frc.robot.subsystems.FlipSubsystem;;
+
+public class LoosenAndDeploy extends CommandGroup {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+
+
+
+    public LoosenAndDeploy(FlipSubsystem flip, ArmsSubsystem arms) {
+      addSequential(new LoosenFlipRope(flip));
+      addSequential(new ArmsDeploy(arms));
+  }
+}

src/main/java/frc/robot/commands/LoosenFlipRope.java

@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.subsystems.FlipSubsystem;;
+
+public class LoosenFlipRope extends Command {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+    private FlipSubsystem flip;
+    private static double LOOSEN_SECONDS = 3;
+
+    public LoosenFlipRope(FlipSubsystem flip) {
+      this.flip=flip;
+      requires(flip);
+      setTimeout(LOOSEN_SECONDS);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+    flip.backward();
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    flip.backward();
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return isTimedOut();
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    flip.stop();
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}