1 package org
.usfirst
.frc3501
.RiceCatRobot
.subsystems
;
3 import org
.usfirst
.frc3501
.RiceCatRobot
.RobotMap
;
5 import edu
.wpi
.first
.wpilibj
.AnalogInput
;
6 import edu
.wpi
.first
.wpilibj
.AnalogPotentiometer
;
7 import edu
.wpi
.first
.wpilibj
.CANJaguar
;
8 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
10 public class Arm
extends Subsystem
{
11 private CANJaguar left
, right
;
12 public AnalogPotentiometer analogPotentiometer
;
16 left
= new CANJaguar(RobotMap
.ARM_LEFT
);
17 right
= new CANJaguar(RobotMap
.ARM_RIGHT
);
18 AnalogInput ai
= new AnalogInput(1);
19 analogPotentiometer
= new AnalogPotentiometer(ai
, 360, 30);
22 public void initDefaultCommand() {
25 public void fineTuneControl(double d
) {
26 if (Math
.abs(d
) < 0.05) {
36 public void setLeft(double speed
) {
40 public void setRight(double speed
) {
44 public void setArmSpeeds(double speed
) {