Add commit because you forgot to do it all along :D

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / subsystems / Arm.java

package org.usfirst.frc3501.RiceCatRobot.subsystems;

import org.usfirst.frc3501.RiceCatRobot.RobotMap;

import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;

/**
 * We shall create though potentiometer object in this beuty of a class. You shall not pass.
 * @author yuvalhermelin
 */
public class Arm extends Subsystem {
  private CANJaguar left, right;
  private double initialDegrees;

  public Arm() {
    left = new CANJaguar(RobotMap.ARM_LEFT);
    right = new CANJaguar(RobotMap.ARM_RIGHT);
    Potentiometer p = new AnalogPotentiometer(0, 360, 30);
    double degrees = p.get();
    initialDegrees = degrees;
  }
  
  /**
   * Levels are as follows:
   * 0: 10 degrees
   * 1: 20 degrees
   * 2: 30 degrees
   * 3: 40 degrees
   * 4: 50 degrees
   * 5: 60 degrees
   * 6: 70 degrees
   * 7: 80 degrees
   * 8: 90 degrees
   * @param level
   */
  public void goToLevel(int level)
  {
	  
  }

  public void initDefaultCommand() {
  }

  public void fineTuneControl(double d) {
    if (Math.abs(d) < 0.05) {
      d = 0;
    } else if (d > 0) {
      d *= d;
    } else {
      d *= -d;
    }
    setArmSpeeds(d);
  }

  public void setLeft(double speed) {
    left.set(-speed);
  }

  public void setRight(double speed) {
    right.set(-speed);
  }

  public void setArmSpeeds(double speed) {
    setLeft(speed);
    setRight(speed);
  }

  public void stop() {
    left.set(0);
    right.set(0);
  }
}