X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDefenseArm.java;h=4cd4232e64ea54d90b441d0f177e2db15d076d16;hb=8e57685f4bacaa8353202309b93bd8f7802e0631;hp=8e49508981cc1bc5d7a2444787b567b421758b5f;hpb=f661626fd47ad3fa3b6c744e84c6d0b4a4130857;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 8e495089..4cd4232e 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,55 +1,89 @@
-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 {
-  // Defense arm related objects
-  public AnalogPotentiometer defenseArmPotentiometer;
-  public AnalogPotentiometer defenseHandPotentiometer;
-  public CANTalon defenseArmMotor;
-  public CANTalon defenseHandMotor;
-  public double hookHeight;
-
-  // Defense arm specific constants that relate to the degrees per pulse value
-  // for the potentiometers
-  // private final static double PULSES_PER_ROTATION = 1; // in pulses
-  public final static double FULL_RANGE = 270.0; // in degrees
-  public final static double OFFSET = -135.0; // in degrees
-  public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
-
-  // array;
-
-  // do we want to use a hashmap??
-  // angles at 0,45,90 (Potentiometer value readings)
-  // degrees
-
-  public DefenseArm() {
-    defenseArmPotentiometer = new AnalogPotentiometer(
-        Constants.DefenseArm.ARM_CHANNEL,
-        FULL_RANGE, OFFSET);
-    Constants.DefenseArm.HAND_CHANNEL);
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
-    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
-  }
-
-  /***
-   * This method gets the height of the hook from the ground. The hook is
-   * attached to the end of the hand, which is attached to the arm.
-   * 
-   * @return hookHeight gets height of hook from ground. The hook is attached to
-   *         the end of the hand, which is attached the arm.
-   * 
-   */
-
-  public double getHookHeight() {
-    return hookHeight;
-  }
-
-  @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 {
+  // Defense arm related objects
+  private AnalogPotentiometer defenseArmPotentiometer;
+  private AnalogPotentiometer defenseHandPotentiometer;
+  private CANTalon defenseArm;
+  private CANTalon defenseHand;
+  private double hookHeight;
+  private double footHeight;
+  private Double[] potAngles;
+
+  public DefenseArm() {
+    defenseArmPotentiometer = new AnalogPotentiometer(
+        Constants.DefenseArm.ARM_CHANNEL,
+        Constants.DefenseArm.FULL_RANGE,
+        Constants.DefenseArm.OFFSET);
+
+    defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
+    defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+  }
+
+  public double getArmPotAngle() {
+    return defenseArmPotentiometer.get();
+  }
+
+  public double getHandPotAngle() {
+    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.
+   *
+   * @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);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}