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   private AnalogPotentiometer defenseArmPotentiometer;
  12   private AnalogPotentiometer defenseHandPotentiometer;
  13   private CANTalon defenseArm;
  14   private CANTalon defenseHand;
  15   private double hookHeight;
  16   private double footHeight;
  17   private double[] potAngles = { 0, 45, 90 };
  18
  19   // array;
  20
  21   public DefenseArm() {
  22     defenseArmPotentiometer = new AnalogPotentiometer(
  23         Constants.DefenseArm.ARM_CHANNEL,
  24         Constants.DefenseArm.FULL_RANGE,
  25         Constants.DefenseArm.OFFSET);
  26
  27     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
  28     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  29   }
  30
  31   public double getArmPotAngle() {
  32     return defenseArmPotentiometer.get();
  33   }
  34
  35   public double getHandPotAngle() {
  36     return defenseHandPotentiometer.get();
  37   }
  38
  39   /***
  40    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  41    * negative voltage makes the direction of the motor go backwards.
  42    *
  43    * @param speed
  44    *          The voltage that you set the motor at. The range of the voltage of
  45    *          the arm motor is from [-1,1]. A
  46    *          negative voltage makes the direction of the motor go backwards.
  47    */
  48
  49   public void setArmSpeed(double speed) {
  50     if (speed > 1)
  51       speed = 1;
  52     else if (speed < -1)
  53       speed = -1;
  54
  55     defenseArm.set(speed);
  56   }
  57
  58   /***
  59    * This method sets the voltage of the hand motor. The range is from [-1,1]. A
  60    * negative voltage makes the direction of the motor go backwards.
  61    *
  62    * @param speed
  63    *          The voltage that you set the motor at. The range of the voltage of
  64    *          the hand motor is from [-1,1]. A
  65    *          negative voltage makes the direction of the motor go backwards.
  66    */
  67
  68   public void setHandSpeed(double speed) {
  69     if (speed > 1)
  70       speed = 1;
  71     else if (speed < -1)
  72       speed = -1;
  73
  74     defenseHand.set(speed);
  75   }
  76
  77   @Override
  78   protected void initDefaultCommand() {
  79   }
  80 }