X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDoubleJointedDefenseArm.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDoubleJointedDefenseArm.java;h=a74910034ab7bc49f2abdb5fb3474a3fb61a4dd8;hb=f65cf99ce55e125f31f576867aa63d087ee5702e;hp=54a96b556cfcfadccd0284dba4580c27201292d3;hpb=55edffac9b787f1b0387b2991c7233d59c615f9a;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
index 54a96b55..a7491003 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
@@ -20,16 +20,16 @@ public class DoubleJointedDefenseArm extends Subsystem {
 
   public DoubleJointedDefenseArm() {
     defenseArmPotentiometer = new AnalogPotentiometer(
-        Constants.DefenseArm.ARM_CHANNEL,
-        Constants.DefenseArm.FULL_RANGE,
-        Constants.DefenseArm.OFFSET);
+        Constants.DoubleJointedDefenseArm.ARM_CHANNEL,
+        Constants.DoubleJointedDefenseArm.FULL_RANGE,
+        Constants.DoubleJointedDefenseArm.OFFSET);
     defenseHandPotentiometer = new AnalogPotentiometer(
-        Constants.DefenseArm.HAND_CHANNEL,
-        Constants.DefenseArm.FULL_RANGE,
-        Constants.DefenseArm.OFFSET);
+        Constants.DoubleJointedDefenseArm.HAND_CHANNEL,
+        Constants.DoubleJointedDefenseArm.FULL_RANGE,
+        Constants.DoubleJointedDefenseArm.OFFSET);
 
-    defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
-    defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+    defenseArm = new CANTalon(Constants.DoubleJointedDefenseArm.ARM_PORT);
+    defenseHand = new CANTalon(Constants.DoubleJointedDefenseArm.HAND_PORT);
     potHandAngles = createHandPotArray();
     potArmAngles = createArmPotArray();
   }
@@ -119,18 +119,18 @@ public class DoubleJointedDefenseArm extends Subsystem {
 
   // TODO: figure out if measurements are all in inches
   public double getArmHorizontalDisplacement() {
-    double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+    double armHorizontalDisplacement = Constants.DoubleJointedDefenseArm.ARM_LENGTH
         * Math.cos(getArmPotAngle());
-    double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
+    double handHorizontalDisplacement = Constants.DoubleJointedDefenseArm.HAND_LENGTH
         * Math.cos(getHandPotAngle());
     return (armHorizontalDisplacement + handHorizontalDisplacement);
   }
 
   public double getArmVerticalDisplacement() {
-    double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
-    double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+    double armMounted = Constants.DoubleJointedDefenseArm.ARM_MOUNTED_HEIGHT;
+    double armVerticalDisplacement = Constants.DoubleJointedDefenseArm.ARM_LENGTH
         * Math.sin(getArmPotAngle());
-    double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
+    double handVerticalDisplacement = Constants.DoubleJointedDefenseArm.HAND_LENGTH
         * Math.sin(getHandPotAngle());
     return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
   }