change array name from levelsToDegrees to armPotValues

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index c807f558e9541e94aea62d0c6fcf26cd4f9c42f6..bf0e35bc4a89fa87b4d19134ee0d1fda693babb7 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -17,21 +17,45 @@ public class DefenseArm extends Subsystem {
   private final static double FULL_RANGE = 270.0; // in degrees\r
   private final static double OFFSET = -135.0; // in degrees\r
   private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;\r
+\r
   // angles at 0,45,90\r
   // degrees\r
 \r
   public DefenseArm() {\r
     potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,\r
         FULL_RANGE, OFFSET);\r
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.DEFENSE_ARM_MOTOR);\r
+    defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);\r
   }\r
 \r
-  public double getDistance(int desiredArmLocation) {\r
+  public double getLevel(int desiredArmLocation) {\r
     return levelsToDegrees[desiredArmLocation];\r
   }\r
 \r
-  public void moveArmTo() {\r
+  public void moveArmTo(int levelsToDegrees) {\r
+\r
+  }\r
+\r
+  public void moveArmDown(int levelsToDegrees) {\r
+    // to move arm down levels\r
+    if (levelsToDegrees > 0 & levelsToDegrees < 45) {\r
+      levelsToDegrees = 0;\r
+      if (levelsToDegrees > 45 & levelsToDegrees < 90) {\r
+        levelsToDegrees = 45;\r
+\r
+      }\r
+    }\r
+  }\r
+\r
+  public void moveArmUp(int levelsToDegrees) {\r
+    // to move arm up levels\r
+    if (levelsToDegrees < 45 & levelsToDegrees > 0) {\r
+      levelsToDegrees = 45;\r
+      if (levelsToDegrees < 90 & levelsToDegrees > 45) {\r
+        levelsToDegrees = 90;\r
+\r
+      }\r
 \r
+    }\r
   }\r
 \r
   @Override\r