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