add a second potentiometer and motor (CANTalon) for the defense hand (2nd half of...

[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
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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[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level array;\r
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  // 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
    defenseHandPotentiometer = new AnalogPotentiometer(\r
        Constants.DefenseArm.HAND_CHANNEL);\r
    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
  }\r
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  @Override\r
  protected void initDefaultCommand() {\r
  }\r
}\r