delete defense hand potentiometer

[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 51e5f7e082afac59d1f1de6d190a9a6e5b200e7e..af4158fb42d4e36837ae28c06a8049465a81c98b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,14 +1,116 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class DefenseArm extends Subsystem {\r
-\r
-       public DefenseArm() {\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 {
+  // 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;
+
+  public DefenseArm() {
+    defenseArmPotentiometer = new AnalogPotentiometer(
+        Constants.DefenseArm.ARM_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();
+  }
+
+  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 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);
+  }
+
+  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() {
+  }
+}