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
  18   public DefenseArm() {
  19     defenseArmPotentiometer = new AnalogPotentiometer(
  20         Constants.DefenseArm.ARM_CHANNEL,
  21         Constants.DefenseArm.FULL_RANGE,
  22         Constants.DefenseArm.OFFSET);
  23
  24     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
  25     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  26   }
  27
  28   public double getArmPotAngle() {
  29     return defenseArmPotentiometer.get();
  30   }
  31
  32   public double getHandPotAngle() {
  33     return defenseHandPotentiometer.get();
  34   }
  35
  36   public double getDistance(int desiredArmLocation) {
  37     return potAngles[desiredArmLocation];
  38   }
  39
  40   public Double[] putInValues() {
  41     for (int i = 0; i < 3; i++) {
  42       potAngles[i] = (double) (45 * i);
  43     }
  44     return potAngles;
  45   }
  46
  47   /***
  48    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  49    * negative voltage makes the direction of the motor go backwards.
  50    *
  51    * @param speed
  52    *          The voltage that you set the motor at. The range of the voltage of
  53    *          the arm motor is from [-1,1]. A
  54    *          negative voltage makes the direction of the motor go backwards.
  55    */
  56
  57   public void setArmSpeed(double speed) {
  58     if (speed > 1)
  59       speed = 1;
  60     else if (speed < -1)
  61       speed = -1;
  62
  63     defenseArm.set(speed);
  64   }
  65
  66   /***
  67    * This method sets the voltage of the hand 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 hand motor is from [-1,1]. A
  73    *          negative voltage makes the direction of the motor go backwards.
  74    */
  75
  76   public void setHandSpeed(double speed) {
  77     if (speed > 1)
  78       speed = 1;
  79     else if (speed < -1)
  80       speed = -1;
  81
  82     defenseHand.set(speed);
  83   }
  84
  85   @Override
  86   protected void initDefaultCommand() {
  87   }
  88 }