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   public AnalogPotentiometer defenseArmPotentiometer;
  12   public AnalogPotentiometer defenseHandPotentiometer;
  13   public CANTalon defenseArmMotor;
  14   public CANTalon defenseHandMotor;
  15   public double hookHeight;
  16   public 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   public final static double FULL_RANGE = 270.0; // in degrees
  22   public final static double OFFSET = -135.0; // in degrees
  23   public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
  24
  25   // array;
  26
  27   // do we want to use a hashmap??
  28   // angles at 0,45,90 (Potentiometer value readings)
  29   // degrees
  30
  31   public DefenseArm() {
  32     defenseArmPotentiometer = new AnalogPotentiometer(
  33         Constants.DefenseArm.ARM_CHANNEL, FULL_RANGE, OFFSET);
  34
  35     defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
  36     defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
  37   }
  38
  39   /***
  40    * <<<<<<< Updated upstream This method gets the height of the hook from the
  41    * ground. The hook is attached to the end of the hand, which is attached to
  42    * the arm.
  43    *
  44    * @return hookHeight gets height of hook from ground. The hook is attached to
  45    *         the end of the hand, which is attached the arm. The height is in
  46    *         inches.
  47    *
  48    */
  49
  50   public double getHookHeight() {
  51
  52     return hookHeight;
  53   }
  54
  55   /***
  56    * This method gets the height of the foot from the ground. The foot is
  57    * attached to the end of the hand, which is attached to the arm.
  58    *
  59    * @return footHeight gets height of foot from ground. The foot is attached to
  60    *         the end of the hand, which is attached the arm. The height is in
  61    *         inches.
  62    *
  63    */
  64
  65   public double getFootHeight() {
  66
  67     return footHeight;
  68
  69   }
  70
  71   @Override
  72   protected void initDefaultCommand() {
  73   }
  74 }