Commit | Line | Data |
---|---|---|
ebd3530c YN |
1 | package org.usfirst.frc.team3501.robot.subsystems;\r |
2 | \r | |
da11cb45 YN |
3 | import org.usfirst.frc.team3501.robot.Constants;\r |
4 | \r | |
3f5489cc | 5 | import edu.wpi.first.wpilibj.AnalogPotentiometer;\r |
3d825b61 | 6 | import edu.wpi.first.wpilibj.CANTalon;\r |
ebd3530c YN |
7 | import edu.wpi.first.wpilibj.command.Subsystem;\r |
8 | \r | |
5585bd31 | 9 | public class DefenseArm extends Subsystem {\r |
3f5489cc | 10 | // Defense arm related objects\r |
dae46a1d | 11 | public AnalogPotentiometer defenseArmPotentiometer;\r |
1826a8dc | 12 | public AnalogPotentiometer defenseHandPotentiometer;\r |
dae46a1d YA |
13 | public CANTalon defenseArmMotor;\r |
14 | public CANTalon defenseHandMotor;\r | |
f661626f | 15 | public double hookHeight;\r |
dac91bff | 16 | public double footHeight;\r |
da11cb45 | 17 | \r |
3f5489cc YN |
18 | // Defense arm specific constants that relate to the degrees per pulse value\r |
19 | // for the potentiometers\r | |
dae46a1d | 20 | // private final static double PULSES_PER_ROTATION = 1; // in pulses\r |
dc5aab20 YA |
21 | public final static double FULL_RANGE = 270.0; // in degrees\r |
22 | public final static double OFFSET = -135.0; // in degrees\r | |
23 | public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level\r | |
f661626f | 24 | \r |
dc5aab20 | 25 | // array;\r |
8d2a8664 | 26 | \r |
dc5aab20 | 27 | // do we want to use a hashmap??\r |
dae46a1d | 28 | // angles at 0,45,90 (Potentiometer value readings)\r |
54b029e6 | 29 | // degrees\r |
da11cb45 YN |
30 | \r |
31 | public DefenseArm() {\r | |
dae46a1d YA |
32 | defenseArmPotentiometer = new AnalogPotentiometer(\r |
33 | Constants.DefenseArm.ARM_CHANNEL,\r | |
da11cb45 | 34 | FULL_RANGE, OFFSET);\r |
dae46a1d YA |
35 | defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r |
36 | defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r | |
da11cb45 | 37 | }\r |
3f5489cc | 38 | \r |
f661626f YA |
39 | /***\r |
40 | * This method gets the height of the hook from the ground. The hook is\r | |
41 | * attached to the end of the hand, which is attached to the arm.\r | |
dac91bff | 42 | *\r |
f661626f | 43 | * @return hookHeight gets height of hook from ground. The hook is attached to\r |
3898ef16 YA |
44 | * the end of the hand, which is attached the arm. The height is in\r |
45 | * inches.\r | |
dac91bff | 46 | *\r |
f661626f YA |
47 | */\r |
48 | \r | |
49 | public double getHookHeight() {\r | |
dac91bff | 50 | \r |
f661626f YA |
51 | return hookHeight;\r |
52 | }\r | |
53 | \r | |
3898ef16 YA |
54 | /***\r |
55 | * This method gets the height of the foot from the ground. The foot is\r | |
56 | * attached to the end of the hand, which is attached to the arm.\r | |
57 | *\r | |
58 | * @return footHeight gets height of foot from ground. The foot is attached to\r | |
59 | * the end of the hand, which is attached the arm. The height is in\r | |
60 | * inches.\r | |
61 | *\r | |
62 | */\r | |
63 | \r | |
dac91bff YA |
64 | public double getFootHeight() {\r |
65 | \r | |
66 | return footHeight;\r | |
67 | }\r | |
68 | \r | |
76273676 YN |
69 | @Override\r |
70 | protected void initDefaultCommand() {\r | |
71 | }\r | |
ebd3530c | 72 | }\r |