private CANTalon defenseHand;
private double hookHeight;
private double footHeight;
- private Double[] potAngles;
+ private double[] potAngles;
+ // angles corresponding to pre-determined heights we will need
public DefenseArm() {
defenseArmPotentiometer = new AnalogPotentiometer(
Constants.DefenseArm.ARM_CHANNEL,
Constants.DefenseArm.FULL_RANGE,
Constants.DefenseArm.OFFSET);
+ defenseHandPotentiometer = new AnalogPotentiometer(
+ Constants.DefenseArm.HAND_CHANNEL,
+ Constants.DefenseArm.FULL_RANGE,
+ Constants.DefenseArm.OFFSET);
defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+ potAngles = createPotArray();
}
public double getArmPotAngle() {
return potAngles[desiredArmLocation];
}
- public Double[] putInValues() {
+ public double[] createPotArray() {
+ double[] arr = new double[3];
+
for (int i = 0; i < 3; i++) {
- potAngles[i] = (double) (45 * i);
+ arr[i] = 45 * i;
}
- return potAngles;
+ return arr;
}
/***