delete second potentiometer for defense hand

[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 776e8ac190f1f2168818639e8fc4c424a761ca74..97098b18ce988919a98ba02143da7c8644a72256 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,3 +1,4 @@
+
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
@@ -14,8 +15,7 @@ public class DefenseArm extends Subsystem {
   private CANTalon defenseHand;
   private double hookHeight;
   private double footHeight;
-  private Double[] potAngles; // change name, 5 to another #
-  // array;
+  private Double[] potAngles;
 
   public DefenseArm() {
     defenseArmPotentiometer = new AnalogPotentiometer(
@@ -84,6 +84,33 @@ public class DefenseArm extends Subsystem {
     defenseHand.set(speed);
   }
 
+  public void moveArmDown(int levelsToDegrees) {
+    // to move arm down levels
+    if (levelsToDegrees > 0 & levelsToDegrees < 45) {
+      levelsToDegrees = 0;
+      if (levelsToDegrees > 45 & levelsToDegrees < 90) {
+        levelsToDegrees = 45;
+
+      }
+    }
+  }
+
+  public void moveArmTo(int levelsToDegrees) {
+
+  }
+
+  public void moveArmUp(int levelsToDegrees) {
+    // to move arm up levels
+    if (levelsToDegrees < 45 & levelsToDegrees > 0) {
+      levelsToDegrees = 45;
+      if (levelsToDegrees < 90 & levelsToDegrees > 45) {
+        levelsToDegrees = 90;
+
+      }
+
+    }
+  }
+
   @Override
   protected void initDefaultCommand() {
   }