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 CANTalon defenseArmMotor;
  13   public CANTalon defenseHandMotor;
  14
  15   // Defense arm specific constants that relate to the degrees per pulse value
  16   // for the potentiometers
  17   // private final static double PULSES_PER_ROTATION = 1; // in pulses
  18   public final static double FULL_RANGE = 270.0; // in degrees
  19   public final static double OFFSET = -135.0; // in degrees
  20   public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
  21   // array;
  22
  23   // do we want to use a hashmap??
  24   // angles at 0,45,90 (Potentiometer value readings)
  25   // degrees
  26
  27   public DefenseArm() {
  28     defenseArmPotentiometer = new AnalogPotentiometer(
  29         Constants.DefenseArm.ARM_CHANNEL,
  30         FULL_RANGE, OFFSET);
  31     defenseHandPotentiometer = new AnalogPotentiometer(
  32         Constants.DefenseArm.HAND_CHANNEL);
  33     defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
  34     defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
  35   }
  36
  37   @Override
  38   protected void initDefaultCommand() {
  39   }
  40 }