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.command.Subsystem;
   7
   8 public class DefenseArm extends Subsystem {
   9   // Defense arm related objects
  10   private AnalogPotentiometer potentiometer;
  11
  12   // Defense arm specific constants that relate to the degrees per pulse value
  13   // for the potentiometers
  14   private final static double PULSES_PER_ROTATION = 1; // in pulses
  15   private final static double FULL_RANGE = 270.0; // in degrees
  16   private final static double OFFSET = -135.0; // in degrees
  17   private Double[] potentiometerArray; // change name, 5 to another #
  18
  19   public DefenseArm() {
  20     potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,
  21         FULL_RANGE, OFFSET);
  22   }
  23
  24   public double getDistance(int desiredArmLocation) {
  25     return potentiometerArray[desiredArmLocation];
  26   }
  27
  28   public Double[] putInValues() {
  29     for (int i = 0; i < 3; i++) {
  30       potentiometerArray[i] = (double) (45 * i);
  31     }
  32     return potentiometerArray;
  33   }
  34
  35   public void moveArmTo() {
  36
  37   }
  38
  39   @Override
  40   protected void initDefaultCommand() {
  41   }
  42 }