add getHookHeight method and getFootHeight method

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / DefenseArm.java

package org.usfirst.frc.team3501.robot.subsystems;\r
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import org.usfirst.frc.team3501.robot.Constants;\r
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import edu.wpi.first.wpilibj.AnalogPotentiometer;\r
import edu.wpi.first.wpilibj.CANTalon;\r
import edu.wpi.first.wpilibj.command.Subsystem;\r
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public class DefenseArm extends Subsystem {\r
  // Defense arm related objects\r
  public AnalogPotentiometer defenseArmPotentiometer;\r
  public AnalogPotentiometer defenseHandPotentiometer;\r
  public CANTalon defenseArmMotor;\r
  public CANTalon defenseHandMotor;\r
  public double hookHeight;\r
  public double footHeight;\r
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  // Defense arm specific constants that relate to the degrees per pulse value\r
  // for the potentiometers\r
  // private final static double PULSES_PER_ROTATION = 1; // in pulses\r
  public final static double FULL_RANGE = 270.0; // in degrees\r
  public final static double OFFSET = -135.0; // in degrees\r
  public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level\r
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  // array;\r
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  // do we want to use a hashmap??\r
  // angles at 0,45,90 (Potentiometer value readings)\r
  // degrees\r
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  public DefenseArm() {\r
    defenseArmPotentiometer = new AnalogPotentiometer(\r
        Constants.DefenseArm.ARM_CHANNEL,\r
        FULL_RANGE, OFFSET);\r
    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
  }\r
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  /***\r
   * This method gets the height of the hook from the ground. The hook is\r
   * attached to the end of the hand, which is attached to the arm.\r
   *\r
   * @return hookHeight gets height of hook from ground. The hook is attached to\r
   *         the end of the hand, which is attached the arm. The height is in\r
   *         inches.\r
   *\r
   */\r
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  public double getHookHeight() {\r
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    return hookHeight;\r
  }\r
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  /***\r
   * This method gets the height of the foot from the ground. The foot is\r
   * attached to the end of the hand, which is attached to the arm.\r
   *\r
   * @return footHeight gets height of foot from ground. The foot is attached to\r
   *         the end of the hand, which is attached the arm. The height is in\r
   *         inches.\r
   *\r
   */\r
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  public double getFootHeight() {\r
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    return footHeight;\r
  }\r
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  @Override\r
  protected void initDefaultCommand() {\r
  }\r
}\r