challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java

   1 <<<<<<< 41a8c498b73f7772d992078cea69ee5673d70668
   2 package org.usfirst.frc.team3501.robot.subsystems;
   3
   4 import org.usfirst.frc.team3501.robot.Constants;
   5
   6 import edu.wpi.first.wpilibj.AnalogPotentiometer;
   7 import edu.wpi.first.wpilibj.CANTalon;
   8 import edu.wpi.first.wpilibj.command.Subsystem;
   9
  10 public class DefenseArm extends Subsystem {
  11   // Defense arm related objects
  12   private AnalogPotentiometer defenseArmPotentiometer;
  13   private AnalogPotentiometer defenseHandPotentiometer;
  14   private CANTalon defenseArm;
  15   private CANTalon defenseHand;
  16   private double hookHeight;
  17   private double footHeight;
  18   private Double[] potAngles;
  19
  20   public DefenseArm() {
  21     defenseArmPotentiometer = new AnalogPotentiometer(
  22         Constants.DefenseArm.ARM_CHANNEL,
  23         Constants.DefenseArm.FULL_RANGE,
  24         Constants.DefenseArm.OFFSET);
  25
  26     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
  27     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  28   }
  29
  30   public double getArmPotAngle() {
  31     return defenseArmPotentiometer.get();
  32   }
  33
  34   public double getHandPotAngle() {
  35     return defenseHandPotentiometer.get();
  36   }
  37
  38   public double getDistance(int desiredArmLocation) {
  39     return potAngles[desiredArmLocation];
  40   }
  41
  42   public Double[] putInValues() {
  43     for (int i = 0; i < 3; i++) {
  44       potAngles[i] = (double) (45 * i);
  45     }
  46     return potAngles;
  47   }
  48
  49   /***
  50    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  51    * negative voltage makes the direction of the motor go backwards.
  52    *
  53    * @param speed
  54    *          The voltage that you set the motor at. The range of the voltage of
  55    *          the arm motor is from [-1,1]. A
  56    *          negative voltage makes the direction of the motor go backwards.
  57    */
  58
  59   public void setArmSpeed(double speed) {
  60     if (speed > 1)
  61       speed = 1;
  62     else if (speed < -1)
  63       speed = -1;
  64
  65     defenseArm.set(speed);
  66   }
  67
  68   /***
  69    * This method sets the voltage of the hand motor. The range is from [-1,1]. A
  70    * negative voltage makes the direction of the motor go backwards.
  71    *
  72    * @param speed
  73    *          The voltage that you set the motor at. The range of the voltage of
  74    *          the hand motor is from [-1,1]. A
  75    *          negative voltage makes the direction of the motor go backwards.
  76    */
  77
  78   public void setHandSpeed(double speed) {
  79     if (speed > 1)
  80       speed = 1;
  81     else if (speed < -1)
  82       speed = -1;
  83
  84     defenseHand.set(speed);
  85   }
  86
  87   public void moveArmDown(int levelsToDegrees) {
  88     // to move arm down levels
  89     if (levelsToDegrees > 0 & levelsToDegrees < 45) {
  90       levelsToDegrees = 0;
  91       if (levelsToDegrees > 45 & levelsToDegrees < 90) {
  92         levelsToDegrees = 45;
  93
  94       }
  95     }
  96   }
  97
  98   public void moveArmTo(int levelsToDegrees) {
  99
 100   }
 101
 102   public void moveArmUp(int levelsToDegrees) {
 103     // to move arm up levels
 104     if (levelsToDegrees < 45 & levelsToDegrees > 0) {
 105       levelsToDegrees = 45;
 106       if (levelsToDegrees < 90 & levelsToDegrees > 45) {
 107         levelsToDegrees = 90;
 108
 109       }
 110
 111     }
 112   }
 113
 114   @Override
 115   protected void initDefaultCommand() {
 116   }
 117 }
 118 =======
 119 package org.usfirst.frc.team3501.robot.subsystems;
 120
 121 import org.usfirst.frc.team3501.robot.Constants;
 122
 123 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 124 import edu.wpi.first.wpilibj.CANTalon;
 125 import edu.wpi.first.wpilibj.command.Subsystem;
 126
 127 public class DefenseArm extends Subsystem {
 128   // Defense arm related objects
 129   public AnalogPotentiometer defenseArmPotentiometer;
 130   public CANTalon defenseArmMotor;
 131   public CANTalon defenseHandMotor;
 132   public double hookHeight;
 133   public double footHeight;
 134
 135   // Defense arm specific constants that relate to the degrees per pulse value
 136   // for the potentiometers
 137   // private final static double PULSES_PER_ROTATION = 1; // in pulses
 138   public final static double FULL_RANGE = 270.0; // in degrees
 139   public final static double OFFSET = -135.0; // in degrees
 140   public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
 141
 142   // array;
 143
 144   // do we want to use a hashmap??
 145   // angles at 0,45,90 (Potentiometer value readings)
 146   // degrees
 147
 148   public DefenseArm() {
 149     defenseArmPotentiometer = new AnalogPotentiometer(
 150         Constants.DefenseArm.ARM_CHANNEL, FULL_RANGE, OFFSET);
 151
 152     defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
 153     defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
 154   }
 155
 156   /***
 157    * <<<<<<< Updated upstream This method gets the height of the hook from the
 158    * ground. The hook is attached to the end of the hand, which is attached to
 159    * the arm.
 160    *
 161    * @return hookHeight gets height of hook from ground. The hook is attached to
 162    *         the end of the hand, which is attached the arm. The height is in
 163    *         inches.
 164    *
 165    */
 166
 167   public double getHookHeight() {
 168
 169     return hookHeight;
 170   }
 171
 172   /***
 173    * This method gets the height of the foot from the ground. The foot is
 174    * attached to the end of the hand, which is attached to the arm.
 175    *
 176    * @return footHeight gets height of foot from ground. The foot is attached to
 177    *         the end of the hand, which is attached the arm. The height is in
 178    *         inches.
 179    *
 180    */
 181
 182   public double getFootHeight() {
 183
 184     return footHeight;
 185
 186   }
 187
 188   @Override
 189   protected void initDefaultCommand() {
 190   }
 191 }
 192 >>>>>>> write methods getArmAngle and getHandAngle