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d6c9c0f4 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
4 | ||
5 | import edu.wpi.first.wpilibj.AnalogPotentiometer; | |
6 | import edu.wpi.first.wpilibj.CANTalon; | |
7 | import edu.wpi.first.wpilibj.command.Subsystem; | |
8 | ||
9 | public class DefenseArm extends Subsystem { | |
d6c9c0f4 KZ |
10 | private AnalogPotentiometer defenseArmPotentiometer; |
11 | private AnalogPotentiometer defenseHandPotentiometer; | |
12 | private CANTalon defenseArm; | |
13 | private CANTalon defenseHand; | |
14 | private double hookHeight; | |
15 | private double footHeight; | |
1d110d2f SC |
16 | private double[] potAngles; |
17 | // angles corresponding to pre-determined heights we will need | |
d6c9c0f4 KZ |
18 | |
19 | public DefenseArm() { | |
20 | defenseArmPotentiometer = new AnalogPotentiometer( | |
21 | Constants.DefenseArm.ARM_CHANNEL, | |
22 | Constants.DefenseArm.FULL_RANGE, | |
23 | Constants.DefenseArm.OFFSET); | |
1d110d2f SC |
24 | defenseHandPotentiometer = new AnalogPotentiometer( |
25 | Constants.DefenseArm.HAND_CHANNEL, | |
26 | Constants.DefenseArm.FULL_RANGE, | |
27 | Constants.DefenseArm.OFFSET); | |
d6c9c0f4 KZ |
28 | |
29 | defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT); | |
30 | defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT); | |
1d110d2f | 31 | potAngles = createPotArray(); |
d6c9c0f4 KZ |
32 | } |
33 | ||
34 | public double getArmPotAngle() { | |
35 | return defenseArmPotentiometer.get(); | |
36 | } | |
37 | ||
38 | public double getHandPotAngle() { | |
39 | return defenseHandPotentiometer.get(); | |
40 | } | |
41 | ||
64f47e4f SC |
42 | /*** |
43 | * This method takes an arm location as input (range of [0,2]) | |
44 | * Returns the angle of the arm corresponding to that arm location | |
45 | * | |
46 | * @param desiredArmLocation | |
47 | * takes an arm location ranging from [0,2] | |
48 | * 0 is the lowest position of arm | |
49 | * 2 is the highest position of arm | |
50 | * @return | |
51 | * the angle of the arm corresponding to that arm location | |
52 | */ | |
53 | public double getAngleForLocation(int desiredArmLocation) { | |
90784ff2 YN |
54 | return potAngles[desiredArmLocation]; |
55 | } | |
56 | ||
1d110d2f SC |
57 | public double[] createPotArray() { |
58 | double[] arr = new double[3]; | |
59 | ||
90784ff2 | 60 | for (int i = 0; i < 3; i++) { |
1d110d2f | 61 | arr[i] = 45 * i; |
90784ff2 | 62 | } |
1d110d2f | 63 | return arr; |
90784ff2 YN |
64 | } |
65 | ||
d6c9c0f4 KZ |
66 | /*** |
67 | * This method sets the voltage of the arm motor. The range is from [-1,1]. A | |
68 | * negative voltage makes the direction of the motor go backwards. | |
69 | * | |
70 | * @param speed | |
71 | * The voltage that you set the motor at. The range of the voltage of | |
72 | * the arm motor is from [-1,1]. A | |
73 | * negative voltage makes the direction of the motor go backwards. | |
74 | */ | |
75 | ||
76 | public void setArmSpeed(double speed) { | |
77 | if (speed > 1) | |
78 | speed = 1; | |
79 | else if (speed < -1) | |
80 | speed = -1; | |
81 | ||
82 | defenseArm.set(speed); | |
83 | } | |
84 | ||
85 | /*** | |
86 | * This method sets the voltage of the hand motor. The range is from [-1,1]. A | |
87 | * negative voltage makes the direction of the motor go backwards. | |
88 | * | |
89 | * @param speed | |
90 | * The voltage that you set the motor at. The range of the voltage of | |
91 | * the hand motor is from [-1,1]. A | |
92 | * negative voltage makes the direction of the motor go backwards. | |
93 | */ | |
94 | ||
95 | public void setHandSpeed(double speed) { | |
96 | if (speed > 1) | |
97 | speed = 1; | |
98 | else if (speed < -1) | |
99 | speed = -1; | |
100 | ||
101 | defenseHand.set(speed); | |
102 | } | |
103 | ||
104 | @Override | |
105 | protected void initDefaultCommand() { | |
106 | } | |
107 | } |