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   private AnalogPotentiometer defenseArmPotentiometer;
  11   private AnalogPotentiometer defenseHandPotentiometer;
  12   private CANTalon defenseArm;
  13   private CANTalon defenseHand;
  14   private double hookHeight;
  15   private double footHeight;
  16   private double[] potAngles;
  17   // angles corresponding to pre-determined heights we will need
  18
  19   public DefenseArm() {
  20     defenseArmPotentiometer = new AnalogPotentiometer(
  21         Constants.DefenseArm.ARM_CHANNEL,
  22         Constants.DefenseArm.FULL_RANGE,
  23         Constants.DefenseArm.OFFSET);
  24     defenseHandPotentiometer = new AnalogPotentiometer(
  25         Constants.DefenseArm.HAND_CHANNEL,
  26         Constants.DefenseArm.FULL_RANGE,
  27         Constants.DefenseArm.OFFSET);
  28
  29     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
  30     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  31     potAngles = createPotArray();
  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 takes an arm location as input (range of [0,2])
  44    * Returns the angle of the arm corresponding to that arm location
  45    *
  46    * @param desiredArmLocation
  47    *          takes an arm location ranging from [0,2]
  48    *          0 is the lowest position of arm
  49    *          2 is the highest position of arm
  50    * @return
  51    *         the angle of the arm corresponding to that arm location
  52    */
  53   public double getAngleForLocation(int desiredArmLocation) {
  54     return potAngles[desiredArmLocation];
  55   }
  56
  57   public double[] createPotArray() {
  58     double[] arr = new double[3];
  59
  60     for (int i = 0; i < 3; i++) {
  61       arr[i] = 45 * i;
  62     }
  63     return arr;
  64   }
  65
  66   /***
  67    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  68    * negative voltage makes the direction of the motor go backwards.
  69    *
  70    * @param speed
  71    *          The voltage that you set the motor at. The range of the voltage of
  72    *          the arm motor is from [-1,1]. A
  73    *          negative voltage makes the direction of the motor go backwards.
  74    */
  75
  76   public void setArmSpeed(double speed) {
  77     if (speed > 1)
  78       speed = 1;
  79     else if (speed < -1)
  80       speed = -1;
  81
  82     defenseArm.set(speed);
  83   }
  84
  85   /***
  86    * This method sets the voltage of the hand motor. The range is from [-1,1]. A
  87    * negative voltage makes the direction of the motor go backwards.
  88    *
  89    * @param speed
  90    *          The voltage that you set the motor at. The range of the voltage of
  91    *          the hand motor is from [-1,1]. A
  92    *          negative voltage makes the direction of the motor go backwards.
  93    */
  94
  95   public void setHandSpeed(double speed) {
  96     if (speed > 1)
  97       speed = 1;
  98     else if (speed < -1)
  99       speed = -1;
 100
 101     defenseHand.set(speed);
 102   }
 103
 104   @Override
 105   protected void initDefaultCommand() {
 106   }
 107 }