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   private Double[] potAngles;
  18
  19   public DefenseArm() {
  20     defenseArmPotentiometer = new AnalogPotentiometer(
  21         Constants.DefenseArm.ARM_CHANNEL,
  22         Constants.DefenseArm.FULL_RANGE,
  23         Constants.DefenseArm.OFFSET);
  24
  25     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
  26     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  27   }
  28
  29   public double getArmPotAngle() {
  30     return defenseArmPotentiometer.get();
  31   }
  32
  33   public double getHandPotAngle() {
  34     return defenseHandPotentiometer.get();
  35   }
  36
  37   public double getDistance(int desiredArmLocation) {
  38     return potAngles[desiredArmLocation];
  39   }
  40
  41   public Double[] putInValues() {
  42     for (int i = 0; i < 3; i++) {
  43       potAngles[i] = (double) (45 * i);
  44     }
  45     return potAngles;
  46   }
  47
  48   /***
  49    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  50    * negative voltage makes the direction of the motor go backwards.
  51    *
  52    * @param speed
  53    *          The voltage that you set the motor at. The range of the voltage of
  54    *          the arm motor is from [-1,1]. A
  55    *          negative voltage makes the direction of the motor go backwards.
  56    */
  57
  58   public void setArmSpeed(double speed) {
  59     if (speed > 1)
  60       speed = 1;
  61     else if (speed < -1)
  62       speed = -1;
  63
  64     defenseArm.set(speed);
  65   }
  66
  67   /***
  68    * This method sets the voltage of the hand motor. The range is from [-1,1]. A
  69    * negative voltage makes the direction of the motor go backwards.
  70    *
  71    * @param speed
  72    *          The voltage that you set the motor at. The range of the voltage of
  73    *          the hand motor is from [-1,1]. A
  74    *          negative voltage makes the direction of the motor go backwards.
  75    */
  76
  77   public void setHandSpeed(double speed) {
  78     if (speed > 1)
  79       speed = 1;
  80     else if (speed < -1)
  81       speed = -1;
  82
  83     defenseHand.set(speed);
  84   }
  85
  86   @Override
  87   protected void initDefaultCommand() {
  88   }
  89 }