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                                                           // angles at 0,45,90
  21                                                           // degrees
  22
  23   public DefenseArm() {
  24     potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,
  25         FULL_RANGE, OFFSET);
  26   }
  27
  28   public double getDistance(int desiredArmLocation) {
  29     return levelsToDegrees[desiredArmLocation];
  30   }
  31
  32   public void moveArmTo() {
  33
  34   }
  35
  36   @Override
  37   protected void initDefaultCommand() {
  38   }
  39 }