change variables arm and hand to armHorizontalDisplacement and armVerticalDisplacemen...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / DefenseArm.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index 6bb409c052bd1cf3f69a79588ffe2c4593ad9fb8..93dfc0ba339999304f6b4d32fa568c7f76be94a8 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -97,18 +97,20 @@ public class DefenseArm extends Subsystem {
 
   // TODO: figure out if measurements are all in inches
   public double getArmHorizontalDist() {
-    double arm = Constants.DefenseArm.ARM_LENGTH * Math.cos(getArmPotAngle());
-    double hand = Constants.DefenseArm.HAND_LENGTH
+    double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+        * Math.cos(getArmPotAngle());
+    double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
         * Math.cos(getHandPotAngle());
-    return (arm + hand);
+    return (armHorizontalDisplacement + handHorizontalDisplacement);
   }
 
   public double getArmHeight() {
     double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
-    double arm = Constants.DefenseArm.ARM_LENGTH * Math.sin(getArmPotAngle());
-    double hand = Constants.DefenseArm.HAND_LENGTH
+    double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+        * Math.sin(getArmPotAngle());
+    double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
         * Math.sin(getHandPotAngle());
-    return (armMounted + arm + hand);
+    return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
   }
 
   public boolean isOutsideRange() {