public AnalogPotentiometer defenseHandPotentiometer;\r
public CANTalon defenseArmMotor;\r
public CANTalon defenseHandMotor;\r
+ public double hookHeight;\r
\r
// Defense arm specific constants that relate to the degrees per pulse value\r
// for the potentiometers\r
public final static double FULL_RANGE = 270.0; // in degrees\r
public final static double OFFSET = -135.0; // in degrees\r
public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level\r
+\r
// array;\r
\r
// do we want to use a hashmap??\r
defenseArmPotentiometer = new AnalogPotentiometer(\r
Constants.DefenseArm.ARM_CHANNEL,\r
FULL_RANGE, OFFSET);\r
- defenseHandPotentiometer = new AnalogPotentiometer(\r
- Constants.DefenseArm.HAND_CHANNEL);\r
+ Constants.DefenseArm.HAND_CHANNEL);\r
defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
}\r
\r
+ /***\r
+ * This method gets the height of the hook from the ground. The hook is\r
+ * attached to the end of the hand, which is attached to the arm.\r
+ * \r
+ * @return hookHeight gets height of hook from ground. The hook is attached to\r
+ * the end of the hand, which is attached the arm.\r
+ * \r
+ */\r
+\r
+ public double getHookHeight() {\r
+ return hookHeight;\r
+ }\r
+\r
@Override\r
protected void initDefaultCommand() {\r
}\r