-=======
-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 {
- // Defense arm related objects
- public AnalogPotentiometer defenseArmPotentiometer;
- public CANTalon defenseArmMotor;
- public CANTalon defenseHandMotor;
- public double hookHeight;
- public double footHeight;
-
- // Defense arm specific constants that relate to the degrees per pulse value
- // for the potentiometers
- // private final static double PULSES_PER_ROTATION = 1; // in pulses
- public final static double FULL_RANGE = 270.0; // in degrees
- public final static double OFFSET = -135.0; // in degrees
- public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
-
- // array;
-
- // do we want to use a hashmap??
- // angles at 0,45,90 (Potentiometer value readings)
- // degrees
-
- public DefenseArm() {
- defenseArmPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.ARM_CHANNEL, FULL_RANGE, OFFSET);
-
- defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
- defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
- }
-
- /***
- * <<<<<<< Updated upstream This method gets the height of the hook from the
- * ground. The hook is attached to the end of the hand, which is attached to
- * the arm.
- *
- * @return hookHeight gets height of hook from ground. The hook is attached to
- * the end of the hand, which is attached the arm. The height is in
- * inches.
- *
- */
-
- public double getHookHeight() {
-
- return hookHeight;
- }
-
- /***
- * This method gets the height of the foot from the ground. The foot is
- * attached to the end of the hand, which is attached to the arm.
- *
- * @return footHeight gets height of foot from ground. The foot is attached to
- * the end of the hand, which is attached the arm. The height is in
- * inches.
- *
- */
-
- public double getFootHeight() {
-
- return footHeight;
-
- }
-
- @Override
- protected void initDefaultCommand() {
- }
-}
->>>>>>> write methods getArmAngle and getHandAngle