add defenseArmMotor CANTalon and comment for array

[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 ca680c3adb47982922e7108d4b05fff8833ae493..e78b3e0659ae4169d2a498c7ba4f54e73686f514 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,8 +1,38 @@
 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
+  private AnalogPotentiometer potentiometer;\r
+  private CANTalon defenseArmMotor;\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
+  private final static double FULL_RANGE = 270.0; // in degrees\r
+  private final static double OFFSET = -135.0; // in degrees\r
+  private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;\r
+                                                          // angles at 0,45,90\r
+                                                          // degrees\r
+\r
+  public DefenseArm() {\r
+    potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,\r
+        FULL_RANGE, OFFSET);\r
+  }\r
+\r
+  public double getDistance(int desiredArmLocation) {\r
+    return levelsToDegrees[desiredArmLocation];\r
+  }\r
+\r
+  public void moveArmTo() {\r
+\r
+  }\r
+\r
   @Override\r
   protected void initDefaultCommand() {\r
   }\r