| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.AnalogPotentiometer; |
| 6 | import edu.wpi.first.wpilibj.CANTalon; |
| 7 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 8 | |
| 9 | public class DefenseArm extends Subsystem { |
| 10 | private AnalogPotentiometer defenseArmPotentiometer; |
| 11 | private AnalogPotentiometer defenseHandPotentiometer; |
| 12 | private CANTalon defenseArm; |
| 13 | private CANTalon defenseHand; |
| 14 | private double hookHeight; |
| 15 | private double footHeight; |
| 16 | |
| 17 | private double[] potHandAngles; |
| 18 | private double[] potArmAngles; |
| 19 | private double[] potAngles; |
| 20 | |
| 21 | // angles corresponding to pre-determined heights we will need |
| 22 | |
| 23 | public DefenseArm() { |
| 24 | defenseArmPotentiometer = new AnalogPotentiometer( |
| 25 | Constants.DefenseArm.ARM_CHANNEL, Constants.DefenseArm.FULL_RANGE, |
| 26 | Constants.DefenseArm.OFFSET); |
| 27 | defenseHandPotentiometer = new AnalogPotentiometer( |
| 28 | Constants.DefenseArm.HAND_CHANNEL, Constants.DefenseArm.FULL_RANGE, |
| 29 | Constants.DefenseArm.OFFSET); |
| 30 | |
| 31 | defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT); |
| 32 | defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT); |
| 33 | potHandAngles = createHandPotArray(); |
| 34 | potArmAngles = createArmPotArray(); |
| 35 | } |
| 36 | |
| 37 | public double getArmPotAngle() { |
| 38 | return defenseArmPotentiometer.get(); |
| 39 | } |
| 40 | |
| 41 | public double getHandPotAngle() { |
| 42 | return defenseHandPotentiometer.get(); |
| 43 | } |
| 44 | |
| 45 | /*** |
| 46 | * This method takes an arm location as input (range of [0,2]) Returns the |
| 47 | * angle of the arm corresponding to that arm location |
| 48 | * |
| 49 | * @param desiredArmLocation |
| 50 | * takes an arm location ranging from [0,2] 0 is the lowest position |
| 51 | * of arm 2 is the highest position of arm |
| 52 | * @return the angle of the arm corresponding to that arm location |
| 53 | */ |
| 54 | public double getAngleForHandLocation(int desiredArmLocation) { |
| 55 | return potHandAngles[desiredArmLocation]; |
| 56 | } |
| 57 | |
| 58 | public double getAngleForArmLocation(int desiredArmLocation) { |
| 59 | return potArmAngles[desiredArmLocation]; |
| 60 | } |
| 61 | |
| 62 | public double[] createHandPotArray() { |
| 63 | double[] arr = new double[3]; |
| 64 | |
| 65 | for (int i = 0; i < 3; i++) { |
| 66 | arr[i] = 45 * i; |
| 67 | } |
| 68 | return arr; |
| 69 | } |
| 70 | |
| 71 | public double[] createArmPotArray() { |
| 72 | double[] arr = new double[3]; |
| 73 | |
| 74 | for (int i = 0; i < 3; i++) { |
| 75 | arr[i] = 45 * i; |
| 76 | } |
| 77 | return arr; |
| 78 | } |
| 79 | |
| 80 | /*** |
| 81 | * This method sets the voltage of the arm motor. The range is from [-1,1]. A |
| 82 | * negative voltage makes the direction of the motor go backwards. |
| 83 | * |
| 84 | * @param speed |
| 85 | * The voltage that you set the motor at. The range of the voltage of |
| 86 | * the arm motor is from [-1,1]. A negative voltage makes the |
| 87 | * direction of the motor go backwards. |
| 88 | */ |
| 89 | |
| 90 | public void setArmSpeed(double speed) { |
| 91 | if (speed > 1) |
| 92 | speed = 1; |
| 93 | else if (speed < -1) |
| 94 | speed = -1; |
| 95 | |
| 96 | defenseArm.set(speed); |
| 97 | } |
| 98 | |
| 99 | /*** |
| 100 | * This method sets the voltage of the hand motor. The range is from [-1,1]. A |
| 101 | * negative voltage makes the direction of the motor go backwards. |
| 102 | * |
| 103 | * @param speed |
| 104 | * The voltage that you set the motor at. The range of the voltage of |
| 105 | * the hand motor is from [-1,1]. A negative voltage makes the |
| 106 | * direction of the motor go backwards. |
| 107 | */ |
| 108 | |
| 109 | public void setHandSpeed(double speed) { |
| 110 | if (speed > 1) |
| 111 | speed = 1; |
| 112 | else if (speed < -1) |
| 113 | speed = -1; |
| 114 | |
| 115 | defenseHand.set(speed); |
| 116 | } |
| 117 | |
| 118 | // TODO: figure out if measurements are all in inches |
| 119 | public double getArmHorizontalDisplacement() { |
| 120 | double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH |
| 121 | * Math.cos(getArmPotAngle()); |
| 122 | double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH |
| 123 | * Math.cos(getHandPotAngle()); |
| 124 | return (armHorizontalDisplacement + handHorizontalDisplacement); |
| 125 | } |
| 126 | |
| 127 | public double getArmVerticalDisplacement() { |
| 128 | double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT; |
| 129 | double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH |
| 130 | * Math.sin(getArmPotAngle()); |
| 131 | double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH |
| 132 | * Math.sin(getHandPotAngle()); |
| 133 | return (armMounted + armVerticalDisplacement + handVerticalDisplacement); |
| 134 | } |
| 135 | |
| 136 | public double getArmHorizontalDist() { |
| 137 | double arm = Constants.DefenseArm.ARM_LENGTH * Math.cos(getArmPotAngle()); |
| 138 | double hand = Constants.DefenseArm.HAND_LENGTH |
| 139 | * Math.cos(getHandPotAngle()); |
| 140 | return (arm + hand); |
| 141 | } |
| 142 | |
| 143 | public double getArmHeight() { |
| 144 | double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT; |
| 145 | double arm = Constants.DefenseArm.ARM_LENGTH * Math.sin(getArmPotAngle()); |
| 146 | double hand = Constants.DefenseArm.HAND_LENGTH |
| 147 | * Math.sin(getHandPotAngle()); |
| 148 | return (armMounted + arm + hand); |
| 149 | } |
| 150 | |
| 151 | public boolean isOutsideRange() { |
| 152 | if (getArmHorizontalDist() < 15) |
| 153 | return false; |
| 154 | return true; |
| 155 | } |
| 156 | |
| 157 | @Override |
| 158 | protected void initDefaultCommand() { |
| 159 | } |
| 160 | } |