change input variables horizontalLimit and height to x and y, respectively

diff --git a/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArm.java b/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArm.java
index b3d05e99d823bad4db2f62df8923dd073ba6add0..5e5d8faffd0b103b0de3ee298e1976ef8ebf8368 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/MoveDefenseArm.java
@@ -14,13 +14,13 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class MoveDefenseArm extends CommandGroup {
 
-  double horizontalLimit, height;
+  double x, y;
 
   public static final double ARM_SPEED = 0.6;
 
-  public MoveDefenseArm(double horizontalLimit, double height) {
-    this.horizontalLimit = horizontalLimit;
-    this.height = height;
+  public MoveDefenseArm(double x, double y) {
+    this.x = x;
+    this.y = y;
     double targetArmAngle = calculateTargetArmAngle();
     double targetHandAngle = calculateTargetHandAngle();
     double handSpeed = ARM_SPEED * targetHandAngle / targetArmAngle;
@@ -30,25 +30,25 @@ public class MoveDefenseArm extends CommandGroup {
 
   protected double calculateTargetArmAngle() {
     double armAngle;
-    armAngle = square(horizontalLimit) + square(height)
+    armAngle = square(x) + square(y)
         + square(Constants.DefenseArm.ARM_LENGTH)
         - square(Constants.DefenseArm.HAND_LENGTH);
-    armAngle /= 2 * Math.sqrt(square(horizontalLimit) + square(height))
+    armAngle /= 2 * Math.sqrt(square(x) + square(y))
         * Constants.DefenseArm.ARM_LENGTH;
     armAngle = Math.acos(armAngle);
-    armAngle = Math.atan(height / horizontalLimit) - armAngle;
+    armAngle = Math.atan(y / x) - armAngle;
     return armAngle;
   }
 
   protected double calculateTargetHandAngle() {
     double handAngle;
-    handAngle = square(horizontalLimit) + square(height)
+    handAngle = square(x) + square(y)
         + square(Constants.DefenseArm.HAND_LENGTH)
         - square(Constants.DefenseArm.ARM_LENGTH);
-    handAngle /= 2 * Math.sqrt(square(horizontalLimit) + square(height))
+    handAngle /= 2 * Math.sqrt(square(x) + square(y))
         * Constants.DefenseArm.HAND_LENGTH;
     handAngle = Math.acos(handAngle);
-    handAngle = handAngle + 90 - Math.atan(horizontalLimit / height);
+    handAngle = handAngle + 90 - Math.atan(x / y);
     return handAngle;
   }