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
  17   // Defense arm specific constants that relate to the degrees per pulse value
  18   // for the potentiometers
  19   // private final static double PULSES_PER_ROTATION = 1; // in pulses
  20   public final static double FULL_RANGE = 270.0; // in degrees
  21   public final static double OFFSET = -135.0; // in degrees
  22   public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
  23
  24   // array;
  25
  26   // do we want to use a hashmap??
  27   // angles at 0,45,90 (Potentiometer value readings)
  28   // degrees
  29
  30   public DefenseArm() {
  31     defenseArmPotentiometer = new AnalogPotentiometer(
  32         Constants.DefenseArm.ARM_CHANNEL,
  33         FULL_RANGE, OFFSET);
  34     Constants.DefenseArm.HAND_CHANNEL);
  35     defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
  36     defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
  37   }
  38
  39   /***
  40    * This method gets the height of the hook from the ground. The hook is
  41    * attached to the end of the hand, which is attached to the arm.
  42    *
  43    * @return hookHeight gets height of hook from ground. The hook is attached to
  44    *         the end of the hand, which is attached the arm.
  45    *
  46    */
  47
  48   public double getHookHeight() {
  49     return hookHeight;
  50   }
  51
  52   @Override
  53   protected void initDefaultCommand() {
  54   }
  55 }