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=adf9b5f87e1c31e5ec717ce66d48820af7780c8c;hpb=dbfb54b364635f4285bbbc7b6904de1e5a3d22eb;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 adf9b5f8..4cd4232e 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -1,4 +1,3 @@
-<<<<<<< 41a8c498b73f7772d992078cea69ee5673d70668
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
@@ -84,109 +83,7 @@ public class DefenseArm extends Subsystem {
     defenseHand.set(speed);
   }
 
-  public void moveArmDown(int levelsToDegrees) {
-    // to move arm down levels
-    if (levelsToDegrees > 0 & levelsToDegrees < 45) {
-      levelsToDegrees = 0;
-      if (levelsToDegrees > 45 & levelsToDegrees < 90) {
-        levelsToDegrees = 45;
-
-      }
-    }
-  }
-
-  public void moveArmTo(int levelsToDegrees) {
-
-  }
-
-  public void moveArmUp(int levelsToDegrees) {
-    // to move arm up levels
-    if (levelsToDegrees < 45 & levelsToDegrees > 0) {
-      levelsToDegrees = 45;
-      if (levelsToDegrees < 90 & levelsToDegrees > 45) {
-        levelsToDegrees = 90;
-
-      }
-
-    }
-  }
-
-  @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
-  public AnalogPotentiometer defenseArmPotentiometer;
-  public CANTalon defenseArmMotor;
-  public CANTalon defenseHandMotor;
-  public double hookHeight;
-  public double footHeight;
-
-  // 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);
-
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
-    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
-  }
-
-  /***
-   * <<<<<<< Updated upstream 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. The height is in
-   *         inches.
-   *
-   */
-
-  public double getHookHeight() {
-
-    return hookHeight;
-  }
-
-  /***
-   * This method gets the height of the foot from the ground. The foot is
-   * attached to the end of the hand, which is attached to the arm.
-   *
-   * @return footHeight gets height of foot from ground. The foot is attached to
-   *         the end of the hand, which is attached the arm. The height is in
-   *         inches.
-   *
-   */
-
-  public double getFootHeight() {
-
-    return footHeight;
-
-  }
-
   @Override
   protected void initDefaultCommand() {
   }
 }
->>>>>>> write methods getArmAngle and getHandAngle