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
  16   // Defense arm specific constants that relate to the degrees per pulse value
  17   // for the potentiometers
  18   // private final static double PULSES_PER_ROTATION = 1; // in pulses
  19   private final static double FULL_RANGE = 270.0; // in degrees
  20   private final static double OFFSET = -135.0; // in degrees
  21   private Double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level array;
  22
  23   // angles at 0,45,90 (Potentiometer value readings)
  24   // degrees
  25
  26   public DefenseArm() {
  27     defenseArmPotentiometer = new AnalogPotentiometer(
  28         Constants.DefenseArm.ARM_CHANNEL,
  29         FULL_RANGE, OFFSET);
  30     defenseHandPotentiometer = new AnalogPotentiometer(
  31         Constants.DefenseArm.HAND_CHANNEL);
  32     defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
  33     defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
  34   }
  35
  36   @Override
  37   protected void initDefaultCommand() {
  38   }
  39 }