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 defenseArmPotentiometer;
  12   private AnalogPotentiometer defenseHandPotentiometer;
  13   private CANTalon defenseArm;
  14   private CANTalon defenseHand;
  15   private double hookHeight;
  16   private double footHeight;
  17
  18   private double[] potAngles = { 0, 45, 90 };
  19
  20   // array;
  21
  22   public DefenseArm() {
  23     defenseArmPotentiometer = new AnalogPotentiometer(
  24         Constants.DefenseArm.ARM_CHANNEL,
  25         Constants.DefenseArm.FULL_RANGE,
  26         Constants.DefenseArm.OFFSET);
  27
  28     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
  29     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
  30   }
  31
  32   public double getArmPotAngle() {
  33     return defenseArmPotentiometer.get();
  34   }
  35
  36   public double getHandPotAngle() {
  37     return defenseHandPotentiometer.get();
  38   }
  39
  40   /***
  41    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  42    * negative voltage makes the direction of the motor go backwards.
  43    *
  44    * @param speed
  45    *          The voltage that you set the motor at. The range of the voltage of
  46    *          the arm motor is from [-1,1]. A
  47    *          negative voltage makes the direction of the motor go backwards.
  48    */
  49
  50   public void setArmSpeed(double speed) {
  51     if (speed > 1)
  52       speed = 1;
  53     else if (speed < -1)
  54       speed = -1;
  55
  56     defenseArm.set(speed);
  57   }
  58
  59   /***
  60    * This method sets the voltage of the hand motor. The range is from [-1,1]. A
  61    * negative voltage makes the direction of the motor go backwards.
  62    *
  63    * @param speed
  64    *          The voltage that you set the motor at. The range of the voltage of
  65    *          the hand motor is from [-1,1]. A
  66    *          negative voltage makes the direction of the motor go backwards.
  67    */
  68
  69   public void setHandSpeed(double speed) {
  70     if (speed > 1)
  71       speed = 1;
  72     else if (speed < -1)
  73       speed = -1;
  74
  75     defenseHand.set(speed);
  76   }
  77
  78   @Override
  79   protected void initDefaultCommand() {
  80   }
  81 }