X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDefenseArm.java;h=bf0e35bc4a89fa87b4d19134ee0d1fda693babb7;hb=8d2a8664c313d5e6e8949cd9d566ac94475931a1;hp=c807f558e9541e94aea62d0c6fcf26cd4f9c42f6;hpb=d165a72f767b1db1b9388da69b5575b47c04b5b1;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 c807f558..bf0e35bc 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -17,21 +17,45 @@ public class DefenseArm extends Subsystem {
   private final static double FULL_RANGE = 270.0; // in degrees
   private final static double OFFSET = -135.0; // in degrees
   private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;
+
   // angles at 0,45,90
   // degrees
 
   public DefenseArm() {
     potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,
         FULL_RANGE, OFFSET);
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.DEFENSE_ARM_MOTOR);
+    defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);
   }
 
-  public double getDistance(int desiredArmLocation) {
+  public double getLevel(int desiredArmLocation) {
     return levelsToDegrees[desiredArmLocation];
   }
 
-  public void moveArmTo() {
+  public void moveArmTo(int levelsToDegrees) {
+
+  }
+
+  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 moveArmUp(int levelsToDegrees) {
+    // to move arm up levels
+    if (levelsToDegrees < 45 & levelsToDegrees > 0) {
+      levelsToDegrees = 45;
+      if (levelsToDegrees < 90 & levelsToDegrees > 45) {
+        levelsToDegrees = 90;
+
+      }
 
+    }
   }
 
   @Override