refactor DefenseArm subsystem to be DoubleJointedDefenseArm

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 08e2b283d288926c946cab280a4e986030605c03..9f82866736cc35a28a9acefaefbc9b0ac24c21b8 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
+import org.usfirst.frc.team3501.robot.subsystems.DoubleJointedDefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Photogate;
@@ -22,7 +22,7 @@ public class Robot extends IterativeRobot {
   public static Scaler scaler;
 
   public static IntakeArm intakeArm;
-  public static DefenseArm defenseArm;
+  public static DoubleJointedDefenseArm defenseArm;
 
   public static Photogate photogate;
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
deleted file mode 100755 (executable)
index 0794b38..0000000
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ /dev/null
@@ -1,147 +0,0 @@
-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;
-
-public class DefenseArm extends Subsystem {
-  private AnalogPotentiometer defenseArmPotentiometer;
-  private AnalogPotentiometer defenseHandPotentiometer;
-  private CANTalon defenseArm;
-  private CANTalon defenseHand;
-  private double hookHeight;
-  private double footHeight;
-  private double[] potHandAngles;
-  private double[] potArmAngles;
-
-  // 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);
-    potHandAngles = createHandPotArray();
-    potArmAngles = createArmPotArray();
-  }
-
-  public double getArmPotAngle() {
-    return defenseArmPotentiometer.get();
-  }
-
-  public double getHandPotAngle() {
-    return defenseHandPotentiometer.get();
-  }
-
-  /***
-   * This method takes an arm location as input (range of [0,2])
-   * Returns the angle of the arm corresponding to that arm location
-   *
-   * @param desiredArmLocation
-   *          takes an arm location ranging from [0,2]
-   *          0 is the lowest position of arm
-   *          2 is the highest position of arm
-   * @return
-   *         the angle of the arm corresponding to that arm location
-   */
-  public double getAngleForHandLocation(int desiredArmLocation) {
-    return potHandAngles[desiredArmLocation];
-  }
-
-  public double getAngleForArmLocation(int desiredArmLocation) {
-    return potArmAngles[desiredArmLocation];
-  }
-
-  public double[] createHandPotArray() {
-    double[] arr = new double[3];
-
-    for (int i = 0; i < 3; i++) {
-      arr[i] = 45 * i;
-    }
-    return arr;
-  }
-
-  public double[] createArmPotArray() {
-    double[] arr = new double[3];
-
-    for (int i = 0; i < 3; i++) {
-      arr[i] = 45 * i;
-    }
-    return arr;
-  }
-
-  /***
-   * 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 speed
-   *          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 speed) {
-    if (speed > 1)
-      speed = 1;
-    else if (speed < -1)
-      speed = -1;
-
-    defenseArm.set(speed);
-  }
-
-  /***
-   * This method sets the voltage of the hand motor. The range is from [-1,1]. A
-   * negative voltage makes the direction of the motor go backwards.
-   *
-   * @param speed
-   *          The voltage that you set the motor at. The range of the voltage of
-   *          the hand motor is from [-1,1]. A
-   *          negative voltage makes the direction of the motor go backwards.
-   */
-
-  public void setHandSpeed(double speed) {
-    if (speed > 1)
-      speed = 1;
-    else if (speed < -1)
-      speed = -1;
-
-    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() {
-  }
-}

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
new file mode 100755 (executable)
index 0000000..54a96b5
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DoubleJointedDefenseArm.java
@@ -0,0 +1,147 @@
+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;
+
+public class DoubleJointedDefenseArm extends Subsystem {
+  private AnalogPotentiometer defenseArmPotentiometer;
+  private AnalogPotentiometer defenseHandPotentiometer;
+  private CANTalon defenseArm;
+  private CANTalon defenseHand;
+  private double hookHeight;
+  private double footHeight;
+  private double[] potHandAngles;
+  private double[] potArmAngles;
+
+  // angles corresponding to pre-determined heights we will need
+
+  public DoubleJointedDefenseArm() {
+    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);
+    potHandAngles = createHandPotArray();
+    potArmAngles = createArmPotArray();
+  }
+
+  public double getArmPotAngle() {
+    return defenseArmPotentiometer.get();
+  }
+
+  public double getHandPotAngle() {
+    return defenseHandPotentiometer.get();
+  }
+
+  /***
+   * This method takes an arm location as input (range of [0,2])
+   * Returns the angle of the arm corresponding to that arm location
+   *
+   * @param desiredArmLocation
+   *          takes an arm location ranging from [0,2]
+   *          0 is the lowest position of arm
+   *          2 is the highest position of arm
+   * @return
+   *         the angle of the arm corresponding to that arm location
+   */
+  public double getAngleForHandLocation(int desiredArmLocation) {
+    return potHandAngles[desiredArmLocation];
+  }
+
+  public double getAngleForArmLocation(int desiredArmLocation) {
+    return potArmAngles[desiredArmLocation];
+  }
+
+  public double[] createHandPotArray() {
+    double[] arr = new double[3];
+
+    for (int i = 0; i < 3; i++) {
+      arr[i] = 45 * i;
+    }
+    return arr;
+  }
+
+  public double[] createArmPotArray() {
+    double[] arr = new double[3];
+
+    for (int i = 0; i < 3; i++) {
+      arr[i] = 45 * i;
+    }
+    return arr;
+  }
+
+  /***
+   * 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 speed
+   *          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 speed) {
+    if (speed > 1)
+      speed = 1;
+    else if (speed < -1)
+      speed = -1;
+
+    defenseArm.set(speed);
+  }
+
+  /***
+   * This method sets the voltage of the hand motor. The range is from [-1,1]. A
+   * negative voltage makes the direction of the motor go backwards.
+   *
+   * @param speed
+   *          The voltage that you set the motor at. The range of the voltage of
+   *          the hand motor is from [-1,1]. A
+   *          negative voltage makes the direction of the motor go backwards.
+   */
+
+  public void setHandSpeed(double speed) {
+    if (speed > 1)
+      speed = 1;
+    else if (speed < -1)
+      speed = -1;
+
+    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() {
+  }
+}