+++ /dev/null
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import org.usfirst.frc.team3501.robot.Constants;
-
-import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class DefenseArm extends Subsystem {
- private AnalogPotentiometer defenseArmPotentiometer;
- private AnalogPotentiometer defenseHandPotentiometer;
- private CANTalon defenseArm;
- private CANTalon defenseHand;
- private double hookHeight;
- private double footHeight;
- private double[] potHandAngles;
- private double[] potArmAngles;
-
- // angles corresponding to pre-determined heights we will need
-
- public DefenseArm() {
- defenseArmPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.ARM_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
- defenseHandPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.HAND_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
-
- defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
- defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
- potHandAngles = createHandPotArray();
- potArmAngles = createArmPotArray();
- }
-
- public double getArmPotAngle() {
- return defenseArmPotentiometer.get();
- }
-
- public double getHandPotAngle() {
- return defenseHandPotentiometer.get();
- }
-
- /***
- * 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;
- }
-
- /***
- * This method sets the voltage of the arm motor. The range is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- *
- * @param speed
- * The voltage that you set the motor at. The range of the voltage of
- * the arm motor is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- */
-
- public void setArmSpeed(double speed) {
- if (speed > 1)
- speed = 1;
- else if (speed < -1)
- speed = -1;
-
- defenseArm.set(speed);
- }
-
- /***
- * This method sets the voltage of the hand motor. The range is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- *
- * @param speed
- * The voltage that you set the motor at. The range of the voltage of
- * the hand motor is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- */
-
- public void setHandSpeed(double speed) {
- if (speed > 1)
- speed = 1;
- else if (speed < -1)
- speed = -1;
-
- defenseHand.set(speed);
- }
-
- // TODO: figure out if measurements are all in inches
- public double getArmHorizontalDisplacement() {
- double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
- * Math.cos(getArmPotAngle());
- double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
- * Math.cos(getHandPotAngle());
- return (armHorizontalDisplacement + handHorizontalDisplacement);
- }
-
- public double getArmVerticalDisplacement() {
- double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
- double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
- * Math.sin(getArmPotAngle());
- double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
- * Math.sin(getHandPotAngle());
- return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
- }
-
- public boolean isOutsideRange() {
- if (getArmHorizontalDisplacement() < 15)
- return false;
- return true;
- }
-
- @Override
- protected void initDefaultCommand() {
- }
-}