delete defense hand potentiometer

[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 e78b3e0659ae4169d2a498c7ba4f54e73686f514..7e57dbe24884e976e4025b66139202dfa9512352 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -8,29 +8,51 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 \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
-                                                          // angles at 0,45,90\r
-                                                          // degrees\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
+  // 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.ARM_PORT);\r
+    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
   }\r
 \r
-  public double getDistance(int desiredArmLocation) {\r
-    return levelsToDegrees[desiredArmLocation];\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
+  public double getHookHeight() {\r
+\r
+    return hookHeight;\r
   }\r
 \r
-  public void moveArmTo() {\r
+  public double getFootHeight() {\r
 \r
+    return footHeight;\r
   }\r
 \r
   @Override\r