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 1f6c1ba7ccb13f4ed4cd868f22f5f87c6dad639c..b54a02f291616aba166a078a7833a5c9887a6a32 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,16 +1,99 @@
 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
-       \r
-       public DefenseArm(){\r
-               \r
-       }\r
-\r
-       @Override\r
-       protected void initDefaultCommand() {\r
-               // TODO Auto-generated method stub\r
-               \r
-       }\r
+public class DefenseArm extends Subsystem {\r
+  // Defense arm related objects\r
+  private AnalogPotentiometer defenseArmPotentiometer;\r
+  private AnalogPotentiometer defenseHandPotentiometer;\r
+  private CANTalon defenseArmMotor;\r
+  private CANTalon defenseHandMotor;\r
+  private double hookHeight;\r
+  private 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, FULL_RANGE, OFFSET);\r
+\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\r
+   * ground. The hook is attached to the end of the hand, which is attached to\r
+   * 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. The height is in\r
+   *         inches.\r
+   *\r
+   */\r
+\r
+  public double getHookHeight() {\r
+\r
+    return 0;\r
+  }\r
+\r
+  /***\r
+   * This method gets the height of the foot from the ground. The foot is\r
+   * attached to the end of the hand, which is attached to the arm.\r
+   *\r
+   * @return footHeight gets height of foot from ground. The foot is attached to\r
+   *         the end of the hand, which is attached the arm. The height is in\r
+   *         inches.\r
+   *\r
+   */\r
+\r
+  public double getFootHeight() {\r
+    return 0;\r
+  }\r
+\r
+  /***\r
+   * This method sets the voltage of the arm motor. The range is from [-1,1]. A\r
+   * negative voltage makes the direction of the motor go backwards.\r
+   *\r
+   * @param speed\r
+   *          The voltage that you set the motor at. The range of the voltage of\r
+   *          the arm motor is from [-1,1]. A\r
+   *          negative voltage makes the direction of the motor go backwards.\r
+   */\r
+\r
+  public void setArmMotorSpeed(double speed) {\r
+\r
+  }\r
+\r
+  /***\r
+   * This method sets the voltage of the hand motor. The range is from [-1,1]. A\r
+   * negative voltage makes the direction of the motor go backwards.\r
+   *\r
+   * @param speed\r
+   *          The voltage that you set the motor at. The range of the voltage of\r
+   *          the hand motor is from [-1,1]. A\r
+   *          negative voltage makes the direction of the motor go backwards.\r
+   */\r
+\r
+  public void setHandMotorSpeed(double speed) {\r
+  }\r
+\r
+  @Override\r
+  protected void initDefaultCommand() {\r
+  }\r
 }\r