change array name from levelsToDegrees to armPotValues

[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
  private AnalogPotentiometer potentiometer;\r
  private CANTalon defenseArmMotor;\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
  private final static double FULL_RANGE = 270.0; // in degrees\r
  private final static double OFFSET = -135.0; // in degrees\r
  private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;\r
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  // angles at 0,45,90\r
  // degrees\r
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  public DefenseArm() {\r
    potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,\r
        FULL_RANGE, OFFSET);\r
    defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);\r
  }\r
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  public double getLevel(int desiredArmLocation) {\r
    return levelsToDegrees[desiredArmLocation];\r
  }\r
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  public void moveArmTo(int levelsToDegrees) {\r
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  }\r
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  public void moveArmDown(int levelsToDegrees) {\r
    // to move arm down levels\r
    if (levelsToDegrees > 0 & levelsToDegrees < 45) {\r
      levelsToDegrees = 0;\r
      if (levelsToDegrees > 45 & levelsToDegrees < 90) {\r
        levelsToDegrees = 45;\r
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      }\r
    }\r
  }\r
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  public void moveArmUp(int levelsToDegrees) {\r
    // to move arm up levels\r
    if (levelsToDegrees < 45 & levelsToDegrees > 0) {\r
      levelsToDegrees = 45;\r
      if (levelsToDegrees < 90 & levelsToDegrees > 45) {\r
        levelsToDegrees = 90;\r
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      }\r
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    }\r
  }\r
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  @Override\r
  protected void initDefaultCommand() {\r
  }\r
}\r