Add set motor speed methods in defense arm and add potentiometer getter methods

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / DefenseArm.java

package org.usfirst.frc.team3501.robot.subsystems;\r
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import org.usfirst.frc.team3501.robot.Constants;\r
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import edu.wpi.first.wpilibj.AnalogPotentiometer;\r
import edu.wpi.first.wpilibj.CANTalon;\r
import edu.wpi.first.wpilibj.command.Subsystem;\r
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public class DefenseArm extends Subsystem {\r
  // Defense arm related objects\r
  private AnalogPotentiometer defenseArmPotentiometer;\r
  private AnalogPotentiometer defenseHandPotentiometer;\r
  private CANTalon defenseArm;\r
  private CANTalon defenseHand;\r
  private double hookHeight;\r
  private double footHeight;\r
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  // Defense arm specific constants that relate to the degrees per pulse value\r
  // for the potentiometers\r
  // private final static double PULSES_PER_ROTATION = 1; // in pulses\r
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  // array;\r
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  public DefenseArm() {\r
    defenseArmPotentiometer = new AnalogPotentiometer(\r
        Constants.DefenseArm.ARM_CHANNEL,\r
        Constants.DefenseArm.FULL_RANGE,\r
        Constants.DefenseArm.OFFSET);\r
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    defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
    defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
  }\r
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  public double getArmPotAngle() {\r
    return defenseArmPotentiometer.get();\r
  }\r
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  public double getHandPotAngle() {\r
    return defenseHandPotentiometer.get();\r
  }\r
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  /***\r
   * This method sets the voltage of the arm motor. The range is from [-1,1]. A\r
   * negative voltage makes the direction of the motor go backwards.\r
   *\r
   * @param speed\r
   *          The voltage that you set the motor at. The range of the voltage of\r
   *          the arm motor is from [-1,1]. A\r
   *          negative voltage makes the direction of the motor go backwards.\r
   */\r
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  public void setArmSpeed(double speed) {\r
    if (speed > 1)\r
      speed = 1;\r
    else if (speed < -1)\r
      speed = -1;\r
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    defenseArm.set(speed);\r
  }\r
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  /***\r
   * This method sets the voltage of the hand motor. The range is from [-1,1]. A\r
   * negative voltage makes the direction of the motor go backwards.\r
   *\r
   * @param speed\r
   *          The voltage that you set the motor at. The range of the voltage of\r
   *          the hand motor is from [-1,1]. A\r
   *          negative voltage makes the direction of the motor go backwards.\r
   */\r
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  public void setHandSpeed(double speed) {\r
    if (speed > 1)\r
      speed = 1;\r
    else if (speed < -1)\r
      speed = -1;\r
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    defenseHand.set(speed);\r
  }\r
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  @Override\r
  protected void initDefaultCommand() {\r
  }\r
}\r