X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDefenseArm.java;h=24037413086b1219d188142190fe01dddd182094;hb=72fc3c9bd8099194cc4b2c8a747ed9f2be06f1c8;hp=ca680c3adb47982922e7108d4b05fff8833ae493;hpb=762736763730828ef896def2a5145c33e7269f96;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index ca680c3a..24037413 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,9 +1,160 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class DefenseArm extends Subsystem {
-  @Override
-  protected void initDefaultCommand() {
-  }
-}
+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 {
+  private AnalogPotentiometer defenseArmPotentiometer;
+  private AnalogPotentiometer defenseHandPotentiometer;
+  private CANTalon defenseArm;
+  private CANTalon defenseHand;
+  private double hookHeight;
+  private double footHeight;
+
+  private double[] potHandAngles;
+  private double[] potArmAngles;
+  private double[] potAngles;
+
+  // angles corresponding to pre-determined heights we will need
+
+  public DefenseArm() {
+    defenseArmPotentiometer = new AnalogPotentiometer(
+        Constants.DefenseArm.ARM_CHANNEL, Constants.DefenseArm.FULL_RANGE,
+        Constants.DefenseArm.OFFSET);
+    defenseHandPotentiometer = new AnalogPotentiometer(
+        Constants.DefenseArm.HAND_CHANNEL, Constants.DefenseArm.FULL_RANGE,
+        Constants.DefenseArm.OFFSET);
+
+    defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
+    defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+    potHandAngles = createHandPotArray();
+    potArmAngles = createArmPotArray();
+  }
+
+  public double getArmPotAngle() {
+    return defenseArmPotentiometer.get();
+  }
+
+  public double getHandPotAngle() {
+    return defenseHandPotentiometer.get();
+  }
+
+  /***
+   * This method takes an arm location as input (range of [0,2]) Returns the
+   * angle of the arm corresponding to that arm location
+   *
+   * @param desiredArmLocation
+   *          takes an arm location ranging from [0,2] 0 is the lowest position
+   *          of arm 2 is the highest position of arm
+   * @return the angle of the arm corresponding to that arm location
+   */
+  public double getAngleForHandLocation(int desiredArmLocation) {
+    return potHandAngles[desiredArmLocation];
+  }
+
+  public double getAngleForArmLocation(int desiredArmLocation) {
+    return potArmAngles[desiredArmLocation];
+  }
+
+  public double[] createHandPotArray() {
+    double[] arr = new double[3];
+
+    for (int i = 0; i < 3; i++) {
+      arr[i] = 45 * i;
+    }
+    return arr;
+  }
+
+  public double[] createArmPotArray() {
+    double[] arr = new double[3];
+
+    for (int i = 0; i < 3; i++) {
+      arr[i] = 45 * i;
+    }
+    return arr;
+  }
+
+  /***
+   * 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);
+  }
+
+  // TODO: figure out if measurements are all in inches
+  public double getArmHorizontalDisplacement() {
+    double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+        * Math.cos(getArmPotAngle());
+    double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
+        * Math.cos(getHandPotAngle());
+    return (armHorizontalDisplacement + handHorizontalDisplacement);
+  }
+
+  public double getArmVerticalDisplacement() {
+    double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
+    double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+        * Math.sin(getArmPotAngle());
+    double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
+        * Math.sin(getHandPotAngle());
+    return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
+  }
+
+  public double getArmHorizontalDist() {
+    double arm = Constants.DefenseArm.ARM_LENGTH * Math.cos(getArmPotAngle());
+    double hand = Constants.DefenseArm.HAND_LENGTH
+        * Math.cos(getHandPotAngle());
+    return (arm + hand);
+  }
+
+  public double getArmHeight() {
+    double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
+    double arm = Constants.DefenseArm.ARM_LENGTH * Math.sin(getArmPotAngle());
+    double hand = Constants.DefenseArm.HAND_LENGTH
+        * Math.sin(getHandPotAngle());
+    return (armMounted + arm + hand);
+  }
+
+  public boolean isOutsideRange() {
+    if (getArmHorizontalDist() < 15)
+      return false;
+    return true;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}