--- /dev/null
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/***
+ * The IntakeArm consists of two rollers that are controlled by one motor, with
+ * a potentiometer on it.
+ *
+ * The motor controls the rollers, making them roll forwards and backwards. The
+ * Intake rollers are on the back of the robot. As the rollers run, they intake
+ * the ball.
+ *
+ * @author superuser
+ *
+ */
+
+public class DefenseArm extends Subsystem {
+
+ private CANTalon defenseArm;
+ private AnalogPotentiometer defensePot;
+ public static double[] potAngles = { 0, 30, 45, 90 }; // TODO: correct angles
+ public static double moveIntakeArmSpeed = 0;
+
+ public DefenseArm() {
+ defenseArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
+ defensePot = new AnalogPotentiometer(Constants.DefenseArm.POT_CHANNEL,
+ Constants.IntakeArm.FULL_RANGE, Constants.DefenseArm.OFFSET);
+ }
+
+ /***
+ * This method sets the voltage of the arm motor. The range is from [-1,1]. A
+ * negative voltage makes the direction of the motor go backwards.
+ *
+ * @param voltage
+ * The voltage that you set the motor at. The range of the voltage of
+ * the arm motor is from [-1,1]. A negative voltage makes the
+ * direction of the motor go backwards.
+ */
+
+ public void setArmSpeed(double voltage) {
+ if (voltage > 1)
+ voltage = 1;
+ else if (voltage < -1)
+ voltage = -1;
+
+ defenseArm.set(voltage);
+ }
+
+ /***
+ * This method gets you the current voltage of the motor that controls the
+ * intake arm. The range of voltage is from [-1,1]. A negative voltage makes
+ * the motor run backwards.
+ *
+ * @return Returns the voltage of the motor that controls the arm. The range
+ * of the voltage goes from [-1,1]. A negative voltage indicates that
+ * the motor is running backwards.
+ */
+
+ public double getArmSpeed() {
+ return defenseArm.get();
+ }
+
+ /***
+ * This method gets the angle of the potentiometer on the Intake Arm.
+ *
+ * @return angle of potentiometer
+ */
+
+ public double getArmAngle() {
+ return defensePot.get() + Constants.IntakeArm.ZERO_ANGLE;
+ }
+
+ public void stop() {
+ setArmSpeed(0);
+ }
+
+ public double getAngleForLevel(double targetLevel) {
+ return potAngles[(int) (targetLevel - 1)];
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+
+ }
+}