challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java

   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   // Defense arm related objects
  11   public AnalogPotentiometer defenseArmPotentiometer;
  12   public AnalogPotentiometer defenseHandPotentiometer;
  13   public CANTalon defenseArmMotor;
  14   public CANTalon defenseHandMotor;
  15   public double hookHeight;
  16   public double footHeight;
  17
  18   // Defense arm specific constants that relate to the degrees per pulse value
  19   // for the potentiometers
  20   // private final static double PULSES_PER_ROTATION = 1; // in pulses
  21   public final static double FULL_RANGE = 270.0; // in degrees
  22   public final static double OFFSET = -135.0; // in degrees
  23   public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
  24
  25   // array;
  26
  27   // do we want to use a hashmap??
  28   // angles at 0,45,90 (Potentiometer value readings)
  29   // degrees
  30
  31   public DefenseArm() {
  32     defenseArmPotentiometer = new AnalogPotentiometer(
  33         Constants.DefenseArm.ARM_CHANNEL,
  34         FULL_RANGE, OFFSET);
  35     defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
  36     defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
  37   }
  38
  39   /***
  40    * This method gets the height of the hook from the ground. The hook is
  41    * attached to the end of the hand, which is attached to the arm.
  42    *
  43    * @return hookHeight gets height of hook from ground. The hook is attached to
  44    *         the end of the hand, which is attached the arm. The height is in
  45    *         inches.
  46    *
  47    */
  48
  49   public double getHookHeight() {
  50
  51     return hookHeight;
  52   }
  53
  54   /***
  55    * This method gets the height of the foot from the ground. The foot is
  56    * attached to the end of the hand, which is attached to the arm.
  57    *
  58    * @return footHeight gets height of foot from ground. The foot is attached to
  59    *         the end of the hand, which is attached the arm. The height is in
  60    *         inches.
  61    *
  62    */
  63
  64   public double getFootHeight() {
  65
  66     return footHeight;
  67   }
  68
  69   @Override
  70   protected void initDefaultCommand() {
  71   }
  72 }