add methods that return how far arm is sticking out and how high arm is at, and const...

[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 4cd4232e64ea54d90b441d0f177e2db15d076d16..24037413086b1219d188142190fe01dddd182094 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -7,23 +7,31 @@ import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DefenseArm extends Subsystem {
-  // Defense arm related objects
   private AnalogPotentiometer defenseArmPotentiometer;
   private AnalogPotentiometer defenseHandPotentiometer;
   private CANTalon defenseArm;
   private CANTalon defenseHand;
   private double hookHeight;
   private double footHeight;
-  private Double[] potAngles;
+
+  private double[] potHandAngles;
+  private double[] potArmAngles;
+  private double[] potAngles;
+
+  // angles corresponding to pre-determined heights we will need
 
   public DefenseArm() {
     defenseArmPotentiometer = new AnalogPotentiometer(
-        Constants.DefenseArm.ARM_CHANNEL,
-        Constants.DefenseArm.FULL_RANGE,
+        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() {
@@ -34,15 +42,39 @@ public class DefenseArm extends Subsystem {
     return defenseHandPotentiometer.get();
   }
 
-  public double getDistance(int desiredArmLocation) {
-    return potAngles[desiredArmLocation];
+  /***
+   * 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[] putInValues() {
+  public double[] createArmPotArray() {
+    double[] arr = new double[3];
+
     for (int i = 0; i < 3; i++) {
-      potAngles[i] = (double) (45 * i);
+      arr[i] = 45 * i;
     }
-    return potAngles;
+    return arr;
   }
 
   /***
@@ -51,8 +83,8 @@ public class DefenseArm extends Subsystem {
    *
    * @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.
+   *          the arm motor is from [-1,1]. A negative voltage makes the
+   *          direction of the motor go backwards.
    */
 
   public void setArmSpeed(double speed) {
@@ -70,8 +102,8 @@ public class DefenseArm extends Subsystem {
    *
    * @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.
+   *          the hand motor is from [-1,1]. A negative voltage makes the
+   *          direction of the motor go backwards.
    */
 
   public void setHandSpeed(double speed) {
@@ -83,6 +115,45 @@ public class DefenseArm extends Subsystem {
     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 double getArmHorizontalDist() {
+    double arm = Constants.DefenseArm.ARM_LENGTH * Math.cos(getArmPotAngle());
+    double hand = Constants.DefenseArm.HAND_LENGTH
+        * Math.cos(getHandPotAngle());
+    return (arm + hand);
+  }
+
+  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
+        * Math.sin(getHandPotAngle());
+    return (armMounted + arm + hand);
+  }
+
+  public boolean isOutsideRange() {
+    if (getArmHorizontalDist() < 15)
+      return false;
+    return true;
+  }
+
   @Override
   protected void initDefaultCommand() {
   }