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

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;

import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.command.Subsystem;

public class DefenseArm extends Subsystem {
  private AnalogPotentiometer defenseArmPotentiometer;
  private AnalogPotentiometer defenseHandPotentiometer;
  private CANTalon defenseArm;
  private CANTalon defenseHand;
  private double hookHeight;
  private double footHeight;
  private Double[] potAngles;

  public DefenseArm() {
    defenseArmPotentiometer = new AnalogPotentiometer(
        Constants.DefenseArm.ARM_CHANNEL,
        Constants.DefenseArm.FULL_RANGE,
        Constants.DefenseArm.OFFSET);

    defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
    defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  }

  public double getArmPotAngle() {
    return defenseArmPotentiometer.get();
  }

  public double getHandPotAngle() {
    return defenseHandPotentiometer.get();
  }

  public double getDistance(int desiredArmLocation) {
    return potAngles[desiredArmLocation];
  }

  public Double[] putInValues() {
    for (int i = 0; i < 3; i++) {
      potAngles[i] = (double) (45 * i);
    }
    return potAngles;
  }

  /***
   * This method sets the voltage of the arm motor. The range is from [-1,1]. A
   * negative voltage makes the direction of the motor go backwards.
   *
   * @param speed
   *          The voltage that you set the motor at. The range of the voltage of
   *          the arm motor is from [-1,1]. A
   *          negative voltage makes the direction of the motor go backwards.
   */

  public void setArmSpeed(double speed) {
    if (speed > 1)
      speed = 1;
    else if (speed < -1)
      speed = -1;

    defenseArm.set(speed);
  }

  /***
   * This method sets the voltage of the hand motor. The range is from [-1,1]. A
   * negative voltage makes the direction of the motor go backwards.
   *
   * @param speed
   *          The voltage that you set the motor at. The range of the voltage of
   *          the hand motor is from [-1,1]. A
   *          negative voltage makes the direction of the motor go backwards.
   */

  public void setHandSpeed(double speed) {
    if (speed > 1)
      speed = 1;
    else if (speed < -1)
      speed = -1;

    defenseHand.set(speed);
  }

  @Override
  protected void initDefaultCommand() {
  }
}