add four method stubs

[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 e4a875d368d1b72acd86f055c05f4830bdce2ed3..af4158fb42d4e36837ae28c06a8049465a81c98b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -14,9 +14,7 @@ public class DefenseArm extends Subsystem {
   private CANTalon defenseHand;
   private double hookHeight;
   private double footHeight;
-  private double[] potAngles = { 0, 45, 90 };
-
-  // array;
+  private Double[] potAngles;
 
   public DefenseArm() {
     defenseArmPotentiometer = new AnalogPotentiometer(
@@ -36,6 +34,17 @@ public class DefenseArm extends Subsystem {
     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.
@@ -74,6 +83,33 @@ 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() {
   }