From 3f5489cc5ac3b7c7957602f45c50c14f6ad3df1a Mon Sep 17 00:00:00 2001 From: Your Name Date: Sat, 23 Jan 2016 13:45:06 -0800 Subject: [PATCH] add constructor and potentiometer related constants in defense arm class --- src/org/usfirst/frc/team3501/robot/Constants.java | 5 +++++ .../frc/team3501/robot/subsystems/DefenseArm.java | 9 +++++++++ 2 files changed, 14 insertions(+) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index db5fbb44..d83bedc7 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -74,6 +74,11 @@ public class Constants { LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD; } + public static class DefenseArm { + // Potentiometer related ports + public static final int CHANNEL = 0; + } + public enum Defense { PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART } diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java index ca680c3a..8d305998 100755 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java @@ -1,8 +1,17 @@ package org.usfirst.frc.team3501.robot.subsystems; +import edu.wpi.first.wpilibj.AnalogPotentiometer; import edu.wpi.first.wpilibj.command.Subsystem; public class DefenseArm extends Subsystem { + // Defense arm related objects + private AnalogPotentiometer potentiometer; + // Defense arm specific constants that relate to the degrees per pulse value + // for the potentiometers + private final static double PULSES_PER_ROTATION = 0; // in pulses + private final static double FULL_RANGE = 270.0; // in degrees + private final static double OFFSET = -135.0; // in degrees + @Override protected void initDefaultCommand() { } -- 2.30.2