From 5c4b37604726d17118865a5d7a6e58860ed59394 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Thu, 13 Oct 2016 20:57:38 +0000
Subject: [PATCH] added check for vision tracking to avoid interference from
 arm

---
 .../frc/team2059/robot/commands/vision/AlignHorizontal.java   | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java b/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java
index 9f833b4..6f81d4e 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java
@@ -15,7 +15,9 @@ public class AlignHorizontal extends CommandBase {
     return false;
   }
   protected void execute() {
-    driveBase.rotateAngle(error);
+    if(mainArm.getDegrees() >=45){
+      driveBase.rotateAngle(error);
+    }
   }
   protected void end() {
     driveBase.getGyroController().disable();