1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import edu
.wpi
.first
.wpilibj
.AnalogPotentiometer
;
6 import edu
.wpi
.first
.wpilibj
.CANTalon
;
7 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
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
;
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;
23 // angles at 0,45,90 (Potentiometer value readings)
27 defenseArmPotentiometer
= new AnalogPotentiometer(
28 Constants
.DefenseArm
.ARM_CHANNEL
,
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
);
37 protected void initDefaultCommand() {