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   private AnalogPotentiometer potentiometer;
  12   private CANTalon defenseArmMotor;
  13
  14   // Defense arm specific constants that relate to the degrees per pulse value
  15   // for the potentiometers
  16   private final static double PULSES_PER_ROTATION = 1; // in pulses
  17   private final static double FULL_RANGE = 270.0; // in degrees
  18   private final static double OFFSET = -135.0; // in degrees
  19   private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;
  20
  21   // angles at 0,45,90
  22   // degrees
  23
  24   public DefenseArm() {
  25     potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,
  26         FULL_RANGE, OFFSET);
  27     defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);
  28   }
  29
  30   public double getLevel(int desiredArmLocation) {
  31     return levelsToDegrees[desiredArmLocation];
  32   }
  33
  34   public void moveArmTo(int levelsToDegrees) {
  35
  36   }
  37
  38   public void moveArmDown(int levelsToDegrees) {
  39     // to move arm down levels
  40     if (levelsToDegrees > 0 & levelsToDegrees < 45) {
  41       levelsToDegrees = 0;
  42       if (levelsToDegrees > 45 & levelsToDegrees < 90) {
  43         levelsToDegrees = 45;
  44
  45       }
  46     }
  47   }
  48
  49   public void moveArmUp(int levelsToDegrees) {
  50     // to move arm up levels
  51     if (levelsToDegrees < 45 & levelsToDegrees > 0) {
  52       levelsToDegrees = 45;
  53       if (levelsToDegrees < 90 & levelsToDegrees > 45) {
  54         levelsToDegrees = 90;
  55
  56       }
  57
  58     }
  59   }
  60
  61   @Override
  62   protected void initDefaultCommand() {
  63   }
  64 }