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; // change name, 5 to another #
- // array;
+ 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);
return defenseHandPotentiometer.get();
}
- public double getDistance(int desiredArmLocation) {
- return potAngles[desiredArmLocation];
- }
-
- public Double[] putInValues() {
- for (int i = 0; i < 3; i++) {
- potAngles[i] = (double) (45 * i);
- }
- return potAngles;
+ /***
+ * 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;
}
/***
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() {
}