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
;
13 static final double ANGLE_RANGE
= 360;
14 static final double INITIAL_ANGLE
= 30;
17 left
= new CANJaguar(RobotMap
.ARM_LEFT
);
18 right
= new CANJaguar(RobotMap
.ARM_RIGHT
);
19 AnalogInput analogInput
= new AnalogInput(1);
20 analogPotentiometer
= new AnalogPotentiometer(analogInput
, ANGLE_RANGE
, INITIAL_ANGLE
);
23 public double getArmAngle() {
24 return analogPotentiometer
.get();
27 public void initDefaultCommand() {
30 public void fineTuneControl(double d
) {
31 if (Math
.abs(d
) < 0.05) {
41 public void setLeft(double speed
) {
45 public void setRight(double speed
) {
49 public void setArmSpeeds(double speed
) {