private double footHeight;
private double[] potHandAngles;
private double[] potArmAngles;
+
// angles corresponding to pre-determined heights we will need
public DefenseArm() {
defenseHand.set(speed);
}
+ // TODO: figure out if measurements are all in inches
+ public double getArmHorizontalDisplacement() {
+ double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ * Math.cos(getArmPotAngle());
+ double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ * Math.cos(getHandPotAngle());
+ return (armHorizontalDisplacement + handHorizontalDisplacement);
+ }
+
+ public double getArmVerticalDisplacement() {
+ double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
+ double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ * Math.sin(getArmPotAngle());
+ double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ * Math.sin(getHandPotAngle());
+ return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
+ }
+
+ public boolean isOutsideRange() {
+ if (getArmHorizontalDisplacement() < 15)
+ return false;
+ return true;
+ }
+
@Override
protected void initDefaultCommand() {
}