challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java

   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   // Defense arm specific constants that relate to the degrees per pulse value
  19   // for the potentiometers
  20   // private final static double PULSES_PER_ROTATION = 1; // in pulses
  21
  22   // array;
  23
  24   public DefenseArm() {
  25     defenseArmPotentiometer = new AnalogPotentiometer(
  26         Constants.DefenseArm.ARM_CHANNEL,
  27         Constants.DefenseArm.FULL_RANGE,
  28         Constants.DefenseArm.OFFSET);
  29
  30     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
  31     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  32   }
  33
  34   public double getArmPotAngle() {
  35     return defenseArmPotentiometer.get();
  36   }
  37
  38   public double getHandPotAngle() {
  39     return defenseHandPotentiometer.get();
  40   }
  41
  42   /***
  43    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  44    * negative voltage makes the direction of the motor go backwards.
  45    *
  46    * @param speed
  47    *          The voltage that you set the motor at. The range of the voltage of
  48    *          the arm motor is from [-1,1]. A
  49    *          negative voltage makes the direction of the motor go backwards.
  50    */
  51
  52   public void setArmSpeed(double speed) {
  53     if (speed > 1)
  54       speed = 1;
  55     else if (speed < -1)
  56       speed = -1;
  57
  58     defenseArm.set(speed);
  59   }
  60
  61   /***
  62    * This method sets the voltage of the hand motor. The range is from [-1,1]. A
  63    * negative voltage makes the direction of the motor go backwards.
  64    *
  65    * @param speed
  66    *          The voltage that you set the motor at. The range of the voltage of
  67    *          the hand motor is from [-1,1]. A
  68    *          negative voltage makes the direction of the motor go backwards.
  69    */
  70
  71   public void setHandSpeed(double speed) {
  72     if (speed > 1)
  73       speed = 1;
  74     else if (speed < -1)
  75       speed = -1;
  76
  77     defenseHand.set(speed);
  78   }
  79
  80   @Override
  81   protected void initDefaultCommand() {
  82   }
  83 }