change method getArmHeight to getArmVerticalDisplacement

[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 a762c90f0307e83bdb639d77e6e065bd40908c79..9ec9904a883c63decd2b981b048b209c1f544bb3 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -118,23 +118,26 @@ public class DefenseArm extends Subsystem {
     defenseHand.set(speed);
   }
 
-  public double getArmHorizontalDist() {
-    double arm = Constants.DefenseArm.ARM_LENGTH * Math.cos(getArmPotAngle());
-    double hand = Constants.DefenseArm.HAND_LENGTH
+  // TODO: figure out if measurements are all in inches
+  public double getArmHorizontalDisplacement() {
+    double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+        * Math.cos(getArmPotAngle());
+    double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
         * Math.cos(getHandPotAngle());
-    return (arm + hand);
+    return (armHorizontalDisplacement + handHorizontalDisplacement);
   }
 
-  public double getArmHeight() {
+  public double getArmVerticalDisplacement() {
     double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
-    double arm = Constants.DefenseArm.ARM_LENGTH * Math.sin(getArmPotAngle());
-    double hand = Constants.DefenseArm.HAND_LENGTH
+    double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+        * Math.sin(getArmPotAngle());
+    double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
         * Math.sin(getHandPotAngle());
-    return (armMounted + arm + hand);
+    return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
   }
 
   public boolean isOutsideRange() {
-    if (getArmHorizontalDist() < 15)
+    if (getArmHorizontalDisplacement() < 15)
       return false;
     return true;
   }