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 |
dae46a1d YA |
11 | public AnalogPotentiometer defenseArmPotentiometer;\r |
12 | public AnalogPotentiometer defenseHandPotentiometer;\r | |
13 | public CANTalon defenseArmMotor;\r | |
14 | public CANTalon defenseHandMotor;\r | |
da11cb45 | 15 | \r |
3f5489cc YN |
16 | // Defense arm specific constants that relate to the degrees per pulse value\r |
17 | // for the potentiometers\r | |
dae46a1d | 18 | // private final static double PULSES_PER_ROTATION = 1; // in pulses\r |
3f5489cc YN |
19 | private final static double FULL_RANGE = 270.0; // in degrees\r |
20 | private final static double OFFSET = -135.0; // in degrees\r | |
dae46a1d | 21 | private Double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level array;\r |
8d2a8664 | 22 | \r |
dae46a1d | 23 | // angles at 0,45,90 (Potentiometer value readings)\r |
54b029e6 | 24 | // degrees\r |
da11cb45 YN |
25 | \r |
26 | public DefenseArm() {\r | |
dae46a1d YA |
27 | defenseArmPotentiometer = new AnalogPotentiometer(\r |
28 | Constants.DefenseArm.ARM_CHANNEL,\r | |
da11cb45 | 29 | FULL_RANGE, OFFSET);\r |
dae46a1d YA |
30 | defenseHandPotentiometer = new AnalogPotentiometer(\r |
31 | Constants.DefenseArm.HAND_CHANNEL);\r | |
32 | defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r | |
33 | defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r | |
da11cb45 | 34 | }\r |
3f5489cc | 35 | \r |
76273676 YN |
36 | @Override\r |
37 | protected void initDefaultCommand() {\r | |
38 | }\r | |
ebd3530c | 39 | }\r |