\r
public class DefenseArm extends Subsystem {\r
// Defense arm related objects\r
- private AnalogPotentiometer potentiometer;\r
- private CANTalon defenseArmMotor;\r
+ public AnalogPotentiometer defenseArmPotentiometer;\r
+ public AnalogPotentiometer defenseHandPotentiometer;\r
+ public CANTalon defenseArmMotor;\r
+ public CANTalon defenseHandMotor;\r
+ public double hookHeight;\r
+ public double footHeight;\r
\r
// Defense arm specific constants that relate to the degrees per pulse value\r
// for the potentiometers\r
- private final static double PULSES_PER_ROTATION = 1; // in pulses\r
- private final static double FULL_RANGE = 270.0; // in degrees\r
- private final static double OFFSET = -135.0; // in degrees\r
- private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;\r
+ // private final static double PULSES_PER_ROTATION = 1; // in pulses\r
+ public final static double FULL_RANGE = 270.0; // in degrees\r
+ public final static double OFFSET = -135.0; // in degrees\r
+ public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level\r
\r
- // angles at 0,45,90\r
+ // array;\r
+\r
+ // do we want to use a hashmap??\r
+ // angles at 0,45,90 (Potentiometer value readings)\r
// degrees\r
\r
public DefenseArm() {\r
- potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,\r
+ defenseArmPotentiometer = new AnalogPotentiometer(\r
+ Constants.DefenseArm.ARM_CHANNEL,\r
FULL_RANGE, OFFSET);\r
- defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);\r
- }\r
-\r
- public double getLevel(int desiredArmLocation) {\r
- return levelsToDegrees[desiredArmLocation];\r
+ defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
+ defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
}\r
\r
- public void moveArmTo(int levelsToDegrees) {\r
+ /***\r
+ * This method gets the height of the hook from the ground. The hook is\r
+ * attached to the end of the hand, which is attached to the arm.\r
+ *\r
+ * @return hookHeight gets height of hook from ground. The hook is attached to\r
+ * the end of the hand, which is attached the arm.\r
+ *\r
+ */\r
\r
- }\r
-\r
- public void moveArmDown(int levelsToDegrees) {\r
- // to move arm down levels\r
- if (levelsToDegrees > 0 & levelsToDegrees < 45) {\r
- levelsToDegrees = 0;\r
- if (levelsToDegrees > 45 & levelsToDegrees < 90) {\r
- levelsToDegrees = 45;\r
+ public double getHookHeight() {\r
\r
- }\r
- }\r
+ return hookHeight;\r
}\r
\r
- public void moveArmUp(int levelsToDegrees) {\r
- // to move arm up levels\r
- if (levelsToDegrees < 45 & levelsToDegrees > 0) {\r
- levelsToDegrees = 45;\r
- if (levelsToDegrees < 90 & levelsToDegrees > 45) {\r
- levelsToDegrees = 90;\r
-\r
- }\r
+ public double getFootHeight() {\r
\r
- }\r
+ return footHeight;\r
}\r
\r
@Override\r