/** Runs a pickup routine to get the ball from behind */ public void backPickUp() { vm.currentNeckSetPoint = vm.BACK_LOAD_POS; neckControl.setSetpoint(vm.currentNeckSetPoint); // Spin the rollers to swallow the ball moveRollerReverse(); /* keep picking up until the ball is detected by the ultra sound * after which, roll only enough to move the ball to a good position * and finaly close on the ball and stop the pickup routine */ // if (sFunctions.isBallOnUltraSound()) { // if (pickupEndTimer > 30) { // pickupEndTimer = 0; // turnRollerOff(); // vm.pickingUp = false; // } else { // pickupEndTimer++; // } // } }