add second defenseArmMotor related constants

[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..b9fd25bc275f9127070a5904aa2f1c5fdb5af827 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,14 +1,41 @@
 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
+\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
+  // array;\r
 \r
-       public DefenseArm() {\r
+  // do we want to use a hashmap??\r
+  // angles at 0,45,90 (Potentiometer value readings)\r
+  // degrees\r
 \r
-       }\r
+  public DefenseArm() {\r
+    defenseArmPotentiometer = new AnalogPotentiometer(\r
+        Constants.DefenseArm.ARM_CHANNEL,\r
+        FULL_RANGE, OFFSET);\r
+    defenseHandPotentiometer = new AnalogPotentiometer(\r
+        Constants.DefenseArm.HAND_CHANNEL);\r
+    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
+    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
+  }\r
 \r
-       @Override\r
-       protected void initDefaultCommand() {\r
-       }\r
+  @Override\r
+  protected void initDefaultCommand() {\r
+  }\r
 }\r