From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Sat, 13 Feb 2016 21:00:59 +0000 (-0800)
Subject: rename MoveDefenseArmVertical to MoveDefenseArm because previously MoveDefenseArmVert... 
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=6d20dad3185d000ff698c06822b8237425fe4235;p=3501%2Fstronghold-2016

rename MoveDefenseArmVertical to MoveDefenseArm because previously MoveDefenseArmVertical is general enough to rename MoveDefenseArm
---

diff --git a/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArm.java b/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArm.java
new file mode 100644
index 00000000..5466f58c
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArm.java
@@ -0,0 +1,53 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Constants;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ *
+ */
+public class MoveDefenseArm extends CommandGroup {
+
+  double horizontalLimit, height;
+
+  public static final double ARM_SPEED = 0.6;
+
+  public MoveDefenseArm(double horizontalLimit, double height) {
+    this.horizontalLimit = horizontalLimit;
+    this.height = height;
+    double targetArmAngle = calculateTargetArmAngle();
+    double targetHandAngle = calculateTargetHandAngle();
+    double handSpeed = ARM_SPEED * targetHandAngle / targetArmAngle;
+    addParallel(new SetArmToAngle(ARM_SPEED, calculateTargetArmAngle()));
+    addParallel(new SetHandToAngle(handSpeed, calculateTargetHandAngle()));
+  }
+
+  protected double calculateTargetArmAngle() {
+    double armAngle;
+    armAngle = square(horizontalLimit) + square(height)
+        + square(Constants.DefenseArm.ARM_LENGTH)
+        - square(Constants.DefenseArm.HAND_LENGTH);
+    armAngle /= 2 * Math.sqrt(square(horizontalLimit) + square(height))
+        * Constants.DefenseArm.ARM_LENGTH;
+    armAngle = Math.acos(armAngle);
+    armAngle = Math.atan(height / horizontalLimit) - armAngle;
+    return armAngle;
+  }
+
+  protected double calculateTargetHandAngle() {
+    double handAngle;
+    handAngle = square(horizontalLimit) + square(height)
+        + square(Constants.DefenseArm.HAND_LENGTH)
+        - square(Constants.DefenseArm.ARM_LENGTH);
+    handAngle /= 2 * Math.sqrt(square(horizontalLimit) + square(height))
+        * Constants.DefenseArm.HAND_LENGTH;
+    handAngle = Math.acos(handAngle);
+    handAngle = handAngle + 90 - Math.atan(horizontalLimit / height);
+    return handAngle;
+  }
+
+  public double square(double num) {
+    return num * num;
+  }
+}
diff --git a/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArmVertical.java b/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArmVertical.java
deleted file mode 100644
index 72ad433c..00000000
--- a/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArmVertical.java
+++ /dev/null
@@ -1,53 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands;
-
-import org.usfirst.frc.team3501.robot.Constants;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/**
- *
- */
-public class MoveDefenseArmVertical extends CommandGroup {
-
-  double horizontalLimit, height;
-
-  public static final double ARM_SPEED = 0.6;
-
-  public MoveDefenseArmVertical(double horizontalLimit, double height) {
-    this.horizontalLimit = horizontalLimit;
-    this.height = height;
-    double targetArmAngle = calculateTargetArmAngle();
-    double targetHandAngle = calculateTargetHandAngle();
-    double handSpeed = ARM_SPEED * targetHandAngle / targetArmAngle;
-    addParallel(new SetArmToAngle(ARM_SPEED, calculateTargetArmAngle()));
-    addParallel(new SetHandToAngle(handSpeed, calculateTargetHandAngle()));
-  }
-
-  protected double calculateTargetArmAngle() {
-    double armAngle;
-    armAngle = square(horizontalLimit) + square(height)
-        + square(Constants.DefenseArm.ARM_LENGTH)
-        - square(Constants.DefenseArm.HAND_LENGTH);
-    armAngle /= 2 * Math.sqrt(square(horizontalLimit) + square(height))
-        * Constants.DefenseArm.ARM_LENGTH;
-    armAngle = Math.acos(armAngle);
-    armAngle = Math.atan(height / horizontalLimit) - armAngle;
-    return armAngle;
-  }
-
-  protected double calculateTargetHandAngle() {
-    double handAngle;
-    handAngle = square(horizontalLimit) + square(height)
-        + square(Constants.DefenseArm.HAND_LENGTH)
-        - square(Constants.DefenseArm.ARM_LENGTH);
-    handAngle /= 2 * Math.sqrt(square(horizontalLimit) + square(height))
-        * Constants.DefenseArm.HAND_LENGTH;
-    handAngle = Math.acos(handAngle);
-    handAngle = handAngle + 90 - Math.atan(horizontalLimit / height);
-    return handAngle;
-  }
-
-  public double square(double num) {
-    return num * num;
-  }
-}