+ /***
+ * This method takes an arm location as input (range of [0,2])
+ * Returns the angle of the arm corresponding to that arm location
+ *
+ * @param desiredArmLocation
+ * takes an arm location ranging from [0,2]
+ * 0 is the lowest position of arm
+ * 2 is the highest position of arm
+ * @return
+ * the angle of the arm corresponding to that arm location
+ */
+
+ public double getAngleForHandLocation(int desiredArmLocation) {
+ return potHandAngles[desiredArmLocation];
+ }
+
+ public double getAngleForArmLocation(int desiredArmLocation) {
+ return potArmAngles[desiredArmLocation];
+ }
+
+ public double[] createHandPotArray() {
+ double[] arr = new double[3];
+
+ for (int i = 0; i < 3; i++) {
+ arr[i] = 45 * i;
+ }
+ return arr;
+ }
+
+ public double[] createArmPotArray() {
+ double[] arr = new double[3];
+
+ for (int i = 0; i < 3; i++) {
+ arr[i] = 45 * i;
+ }
+ return arr;
+ }
+