// RobotBuilder Version: 1.0
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in the future.
package org.usfirst.frc330.Beachbot2014Java.commands;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc330.Beachbot2014Java.Robot;
/**
 *
 */
public class  PickupReverseFancy extends Command {
    public PickupReverseFancy() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
	
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
        requires(Robot.pickup);
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
    }
    // Called just before this Command runs the first time
    protected void initialize() {
        Robot.pickup.setPickupMotorOff();
    }
    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        Robot.pickup.setPickupMotorReverse();
    }
    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }
    // Called once after isFinished returns true
    protected void end() {
        Robot.pickup.setPickupMotorOff();
    }
    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
        end();
    }
}

@@ -991,24 +991,47 @@
 UIRES%0A    %7D%0A
+    boolean direction;%0A
     // Calle
@@ -1145,32 +1145,110 @@
 ckupMotorOff();%0A
+         direction = Robot.arm.getArmPosition() %3C Robot.arm.getArmVertical();%0A
     %7D%0A    // Cal
@@ -1327,24 +1327,51 @@
 execute() %7B%0A
+        if (direction)%0A    
         Robo
@@ -1400,24 +1400,87 @@
 rReverse();%0A
+        else%0A            Robot.pickup.setPickupMotorForward();%0A
     %7D%0A    //

make work in both directions