challenge-bot.com Git - 3501/2015-FRC-Spark/blob - src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java

   1 package org.usfirst.frc3501.RiceCatRobot.subsystems;
   2
   3 import org.usfirst.frc3501.RiceCatRobot.RobotMap;
   4
   5 import edu.wpi.first.wpilibj.AnalogPotentiometer;
   6 import edu.wpi.first.wpilibj.CANJaguar;
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8 import edu.wpi.first.wpilibj.interfaces.Potentiometer;
   9
  10 /**
  11  * We shall create though potentiometer object in this beuty of a class. You shall not pass.
  12  * @author yuvalhermelin
  13  */
  14 public class Arm extends Subsystem {
  15   private CANJaguar left, right;
  16   private double initialDegrees;
  17
  18   public Arm() {
  19     left = new CANJaguar(RobotMap.ARM_LEFT);
  20     right = new CANJaguar(RobotMap.ARM_RIGHT);
  21     Potentiometer p = new AnalogPotentiometer(0, 360, 30);
  22     double degrees = p.get();
  23     initialDegrees = degrees;
  24   }
  25
  26   /**
  27    * Levels are as follows:
  28    * 0: 10 degrees
  29    * 1: 20 degrees
  30    * 2: 30 degrees
  31    * 3: 40 degrees
  32    * 4: 50 degrees
  33    * 5: 60 degrees
  34    * 6: 70 degrees
  35    * 7: 80 degrees
  36    * 8: 90 degrees
  37    * @param level
  38    */
  39   public void goToLevel(int level)
  40   {
  41
  42   }
  43
  44   public void initDefaultCommand() {
  45   }
  46
  47   public void fineTuneControl(double d) {
  48     if (Math.abs(d) < 0.05) {
  49       d = 0;
  50     } else if (d > 0) {
  51       d *= d;
  52     } else {
  53       d *= -d;
  54     }
  55     setArmSpeeds(d);
  56   }
  57
  58   public void setLeft(double speed) {
  59     left.set(-speed);
  60   }
  61
  62   public void setRight(double speed) {
  63     right.set(-speed);
  64   }
  65
  66   public void setArmSpeeds(double speed) {
  67     setLeft(speed);
  68     setRight(speed);
  69   }
  70
  71   public void stop() {
  72     left.set(0);
  73     right.set(0);
  74   }
  75 }