Fix some errors

[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 7e57dbe24884e976e4025b66139202dfa9512352..9b745760186031c8c9f4fe0b4e0b599ec500fc4e 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,61 +1,101 @@
-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.CANTalon;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class DefenseArm extends Subsystem {\r
-  // Defense arm related objects\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
-  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
-    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
-  /***\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 double getFootHeight() {\r
-\r
-    return footHeight;\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);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}