X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDefenseArm.java;h=8e49508981cc1bc5d7a2444787b567b421758b5f;hb=f661626fd47ad3fa3b6c744e84c6d0b4a4130857;hp=b9fd25bc275f9127070a5904aa2f1c5fdb5af827;hpb=1826a8dc87107766f95c8f93b9ac536d1d8b0fe4;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 b9fd25bc..8e495089 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -12,6 +12,7 @@ public class DefenseArm extends Subsystem {
   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
@@ -19,6 +20,7 @@ public class DefenseArm extends Subsystem {
   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??
@@ -29,12 +31,24 @@ public class DefenseArm extends Subsystem {
     defenseArmPotentiometer = new AnalogPotentiometer(
         Constants.DefenseArm.ARM_CHANNEL,
         FULL_RANGE, OFFSET);
-    defenseHandPotentiometer = new AnalogPotentiometer(
-        Constants.DefenseArm.HAND_CHANNEL);
+    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() {
   }