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 YN |
10 | // Defense arm related objects\r |
11 | private AnalogPotentiometer potentiometer;\r | |
3d825b61 | 12 | private CANTalon defenseArmMotor;\r |
da11cb45 | 13 | \r |
3f5489cc YN |
14 | // Defense arm specific constants that relate to the degrees per pulse value\r |
15 | // for the potentiometers\r | |
da11cb45 | 16 | private final static double PULSES_PER_ROTATION = 1; // in pulses\r |
3f5489cc YN |
17 | private final static double FULL_RANGE = 270.0; // in degrees\r |
18 | private final static double OFFSET = -135.0; // in degrees\r | |
3d825b61 | 19 | private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;\r |
54b029e6 YA |
20 | // angles at 0,45,90\r |
21 | // degrees\r | |
da11cb45 YN |
22 | \r |
23 | public DefenseArm() {\r | |
24 | potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,\r | |
25 | FULL_RANGE, OFFSET);\r | |
54b029e6 | 26 | defenseArmMotor = new CANTalon(Constants.DefenseArm.DEFENSE_ARM_MOTOR);\r |
da11cb45 YN |
27 | }\r |
28 | \r | |
29 | public double getDistance(int desiredArmLocation) {\r | |
3d825b61 | 30 | return levelsToDegrees[desiredArmLocation];\r |
da11cb45 YN |
31 | }\r |
32 | \r | |
33 | public void moveArmTo() {\r | |
34 | \r | |
35 | }\r | |
3f5489cc | 36 | \r |
76273676 YN |
37 | @Override\r |
38 | protected void initDefaultCommand() {\r | |
39 | }\r | |
ebd3530c | 40 | }\r |