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Rename DefenseArm subsystem to DoubleJointedDefenseArm
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
DoubleJointedDefenseArm.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
b/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
index 54a96b556cfcfadccd0284dba4580c27201292d3..a74910034ab7bc49f2abdb5fb3474a3fb61a4dd8 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
@@
-20,16
+20,16
@@
public class DoubleJointedDefenseArm extends Subsystem {
public DoubleJointedDefenseArm() {
defenseArmPotentiometer = new AnalogPotentiometer(
public DoubleJointedDefenseArm() {
defenseArmPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.ARM_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
+ Constants.D
oubleJointedD
efenseArm.ARM_CHANNEL,
+ Constants.D
oubleJointedD
efenseArm.FULL_RANGE,
+ Constants.D
oubleJointedD
efenseArm.OFFSET);
defenseHandPotentiometer = new AnalogPotentiometer(
defenseHandPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.HAND_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
+ Constants.D
oubleJointedD
efenseArm.HAND_CHANNEL,
+ Constants.D
oubleJointedD
efenseArm.FULL_RANGE,
+ Constants.D
oubleJointedD
efenseArm.OFFSET);
- defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
- defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+ defenseArm = new CANTalon(Constants.D
oubleJointedD
efenseArm.ARM_PORT);
+ defenseHand = new CANTalon(Constants.D
oubleJointedD
efenseArm.HAND_PORT);
potHandAngles = createHandPotArray();
potArmAngles = createArmPotArray();
}
potHandAngles = createHandPotArray();
potArmAngles = createArmPotArray();
}
@@
-119,18
+119,18
@@
public class DoubleJointedDefenseArm extends Subsystem {
// TODO: figure out if measurements are all in inches
public double getArmHorizontalDisplacement() {
// TODO: figure out if measurements are all in inches
public double getArmHorizontalDisplacement() {
- double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ double armHorizontalDisplacement = Constants.D
oubleJointedD
efenseArm.ARM_LENGTH
* Math.cos(getArmPotAngle());
* Math.cos(getArmPotAngle());
- double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ double handHorizontalDisplacement = Constants.D
oubleJointedD
efenseArm.HAND_LENGTH
* Math.cos(getHandPotAngle());
return (armHorizontalDisplacement + handHorizontalDisplacement);
}
public double getArmVerticalDisplacement() {
* Math.cos(getHandPotAngle());
return (armHorizontalDisplacement + handHorizontalDisplacement);
}
public double getArmVerticalDisplacement() {
- double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
- double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ double armMounted = Constants.D
oubleJointedD
efenseArm.ARM_MOUNTED_HEIGHT;
+ double armVerticalDisplacement = Constants.D
oubleJointedD
efenseArm.ARM_LENGTH
* Math.sin(getArmPotAngle());
* Math.sin(getArmPotAngle());
- double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ double handVerticalDisplacement = Constants.D
oubleJointedD
efenseArm.HAND_LENGTH
* Math.sin(getHandPotAngle());
return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
}
* Math.sin(getHandPotAngle());
return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
}