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 |
68b22e83 YA |
11 | private AnalogPotentiometer defenseArmPotentiometer;\r |
12 | private AnalogPotentiometer defenseHandPotentiometer;\r | |
ae33aa8d SC |
13 | private CANTalon defenseArm;\r |
14 | private CANTalon defenseHand;\r | |
68b22e83 YA |
15 | private double hookHeight;\r |
16 | private double footHeight;\r | |
da11cb45 | 17 | \r |
8720614b | 18 | private double[] potAngles = { 0, 45, 90 };\r |
f661626f | 19 | \r |
dc5aab20 | 20 | // array;\r |
8d2a8664 | 21 | \r |
da11cb45 | 22 | public DefenseArm() {\r |
dae46a1d | 23 | defenseArmPotentiometer = new AnalogPotentiometer(\r |
ae33aa8d SC |
24 | Constants.DefenseArm.ARM_CHANNEL,\r |
25 | Constants.DefenseArm.FULL_RANGE,\r | |
26 | Constants.DefenseArm.OFFSET);\r | |
a1a9b30f | 27 | \r |
ae33aa8d SC |
28 | defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);\r |
29 | defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);\r | |
da11cb45 | 30 | }\r |
3f5489cc | 31 | \r |
ae33aa8d SC |
32 | public double getArmPotAngle() {\r |
33 | return defenseArmPotentiometer.get();\r | |
f661626f YA |
34 | }\r |
35 | \r | |
ae33aa8d SC |
36 | public double getHandPotAngle() {\r |
37 | return defenseHandPotentiometer.get();\r | |
68b22e83 YA |
38 | }\r |
39 | \r | |
40 | /***\r | |
41 | * This method sets the voltage of the arm motor. The range is from [-1,1]. A\r | |
42 | * negative voltage makes the direction of the motor go backwards.\r | |
43 | *\r | |
44 | * @param speed\r | |
45 | * The voltage that you set the motor at. The range of the voltage of\r | |
46 | * the arm motor is from [-1,1]. A\r | |
47 | * negative voltage makes the direction of the motor go backwards.\r | |
48 | */\r | |
49 | \r | |
ae33aa8d SC |
50 | public void setArmSpeed(double speed) {\r |
51 | if (speed > 1)\r | |
52 | speed = 1;\r | |
53 | else if (speed < -1)\r | |
54 | speed = -1;\r | |
dac91bff | 55 | \r |
ae33aa8d | 56 | defenseArm.set(speed);\r |
68b22e83 YA |
57 | }\r |
58 | \r | |
59 | /***\r | |
60 | * This method sets the voltage of the hand motor. The range is from [-1,1]. A\r | |
61 | * negative voltage makes the direction of the motor go backwards.\r | |
62 | *\r | |
63 | * @param speed\r | |
64 | * The voltage that you set the motor at. The range of the voltage of\r | |
65 | * the hand motor is from [-1,1]. A\r | |
66 | * negative voltage makes the direction of the motor go backwards.\r | |
67 | */\r | |
a1a9b30f | 68 | \r |
ae33aa8d SC |
69 | public void setHandSpeed(double speed) {\r |
70 | if (speed > 1)\r | |
71 | speed = 1;\r | |
72 | else if (speed < -1)\r | |
73 | speed = -1;\r | |
74 | \r | |
75 | defenseHand.set(speed);\r | |
dac91bff YA |
76 | }\r |
77 | \r | |
76273676 YN |
78 | @Override\r |
79 | protected void initDefaultCommand() {\r | |
80 | }\r | |
ebd3530c | 81 | }\r |