-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import org.usfirst.frc.team3501.robot.Constants;\r
-\r
-import edu.wpi.first.wpilibj.AnalogPotentiometer;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class DefenseArm extends Subsystem {\r
- // Defense arm related objects\r
- private AnalogPotentiometer potentiometer;\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[] potentiometerArray; // change name, 5 to another #\r
-\r
- public DefenseArm() {\r
- potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,\r
- FULL_RANGE, OFFSET);\r
- }\r
-\r
- public double getDistance(int desiredArmLocation) {\r
- return potentiometerArray[desiredArmLocation];\r
- }\r
-\r
- public Double[] putInValues() {\r
- for (int i = 0; i < 3; i++) {\r
- potentiometerArray[i] = (double) (45 * i);\r
- }\r
- return potentiometerArray;\r
- }\r
-\r
- public void moveArmTo() {\r
-\r
- }\r
-\r
- @Override\r
- protected void initDefaultCommand() {\r
- }\r
-}\r
+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[] potAngles = { 0, 45, 90 };
+
+ // 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);
+ }
+
+ 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 getLevelValue(int level) {
+ if (level >= potAngles.length)
+ return potAngles[level];
+ else
+ return 0;
+ }
+
+ /***
+ * 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 getArmHorizontalDist() {
+ double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ * Math.cos(getArmPotAngle());
+ double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ * Math.cos(getHandPotAngle());
+ return (armHorizontalDisplacement + handHorizontalDisplacement);
+ }
+
+ public double getArmHeight() {
+ 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 (getArmHorizontalDist() < 15)
+ return false;
+ return true;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ }
+}