fix merge conflicts

diff --cc src/org/usfirst/frc/team3501/robot/Robot.java
index 9d97660caace18d282b4bef5fdf54e6f2503b47c,71685c51327524058ee33760c112549a40dde356..ea7910b607f05090ca31e46446fa6f0f33ee2654
--- 1/src/org/usfirst/frc/team3501/robot/Robot.java
--- 2/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@@ -1,8 -1,8 +1,9 @@@
  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.DriveTrain;
 +import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
  import org.usfirst.frc.team3501.robot.subsystems.Scaler;
  import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  
@@@ -12,119 -12,121 +13,123 @@@ import edu.wpi.first.wpilibj.smartdashb
  import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  
  public class Robot extends IterativeRobot {
-       public static OI oi;
-       public static DriveTrain driveTrain;
-       public static Shooter shooter;
-       public static Scaler scaler;
-       public static IntakeArm intakeArm;
- 
-       // Sendable Choosers send a drop down menu to the Smart Dashboard.
-       SendableChooser positionChooser;
-       SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, positionFourDefense,
-                       positionFiveDefense;
- 
-       @Override
-       public void robotInit() {
-               driveTrain = new DriveTrain();
-               oi = new OI();
-               shooter = new Shooter();
-               scaler = new Scaler();
-               intakeArm = new IntakeArm();
- 
-               // Sendable Choosers allows the driver to select the position of the
-               // robot
-               // and the positions of the defenses from a drop-down menu on the Smart
-               // Dashboard
-               // make the Sendable Choosers
-               initializeSendableChoosers();
-               addPositionChooserOptions();
-               addDefensesToAllDefenseSendableChooosers();
-               sendSendableChoosersToSmartDashboard();
- 
-       }
- 
-       private void initializeSendableChoosers() {
-               positionChooser = new SendableChooser();
-               positionOneDefense = new SendableChooser();
-               positionTwoDefense = new SendableChooser();
-               positionThreeDefense = new SendableChooser();
-               positionFourDefense = new SendableChooser();
-               positionFiveDefense = new SendableChooser();
-       }
- 
-       private void addPositionChooserOptions() {
-               positionChooser.addDefault("Position 1", 1);
-               positionChooser.addObject("Position 2", 2);
-               positionChooser.addObject("Position 3", 3);
-               positionChooser.addObject("Position 4", 4);
-               positionChooser.addObject("Position 5", 5);
-       }
- 
-       private void addDefensesToAllDefenseSendableChooosers() {
-               addDefenseOptions(positionOneDefense);
-               addDefenseOptions(positionTwoDefense);
-               addDefenseOptions(positionThreeDefense);
-               addDefenseOptions(positionFourDefense);
-               addDefenseOptions(positionFiveDefense);
-       }
- 
-       private void addDefenseOptions(SendableChooser chooser) {
-               chooser.addDefault("Portcullis", Defense.PORTCULLIS);
-               chooser.addObject("Sally Port", Defense.SALLY_PORT);
-               chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
-               chooser.addObject("Low Bar", Defense.LOW_BAR);
-               chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
-               chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-               chooser.addObject("Moat", Defense.MOAT);
-               chooser.addObject("Rock Wall", Defense.ROCK_WALL);
-       }
- 
-       private void sendSendableChoosersToSmartDashboard() {
-               SmartDashboard.putData("PositionChooser", positionChooser);
-               SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
-               SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
-               SmartDashboard.putData("Position Three Defense Chooser", positionThreeDefense);
-               SmartDashboard.putData("Position Four Defense Chooser", positionFourDefense);
-               SmartDashboard.putData("Position Five Defense Chooser", positionFiveDefense);
-       }
- 
-       @Override
-       public void autonomousInit() {
-               Scheduler.getInstance().run();
- 
-               // get options chosen from drop down menu
-               Integer chosenPosition = (Integer) positionChooser.getSelected();
-               Integer chosenDefense = 0;
- 
-               switch (chosenPosition) {
-               case 1:
-                       chosenDefense = (Integer) positionOneDefense.getSelected();
-               case 2:
-                       chosenDefense = (Integer) positionTwoDefense.getSelected();
-               case 3:
-                       chosenDefense = (Integer) positionThreeDefense.getSelected();
-               case 4:
-                       chosenDefense = (Integer) positionFourDefense.getSelected();
-               case 5:
-                       chosenDefense = (Integer) positionFiveDefense.getSelected();
-               }
- 
-               System.out.println("Chosen Position: " + chosenPosition);
-               System.out.println("Chosen Defense: " + chosenDefense);
-       }
- 
-       @Override
-       public void autonomousPeriodic() {
-               Scheduler.getInstance().run();
-       }
- 
-       @Override
-       public void teleopInit() {
-       }
- 
-       @Override
-       public void teleopPeriodic() {
-               Scheduler.getInstance().run();
- 
-       }
+   public static OI oi;
+   public static DriveTrain driveTrain;
+   public static Shooter shooter;
+   public static Scaler scaler;
 -  public static DefenseArm defenseArm;
++  public static IntakeArm intakeArm;
+ 
+   // Sendable Choosers send a drop down menu to the Smart Dashboard.
+   SendableChooser positionChooser;
+   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
 -      positionFourDefense, positionFiveDefense;
++      positionFourDefense,
++      positionFiveDefense;
+ 
+   @Override
+   public void robotInit() {
+     driveTrain = new DriveTrain();
+     oi = new OI();
+     shooter = new Shooter();
+     scaler = new Scaler();
 -    defenseArm = new DefenseArm();
++    intakeArm = new IntakeArm();
+ 
 -    // Sendable Choosers allows the driver to select the position of the robot
++    // Sendable Choosers allows the driver to select the position of the
++    // robot
+     // and the positions of the defenses from a drop-down menu on the Smart
+     // Dashboard
+     // make the Sendable Choosers
+     initializeSendableChoosers();
+     addPositionChooserOptions();
+     addDefensesToAllDefenseSendableChooosers();
+     sendSendableChoosersToSmartDashboard();
+ 
+   }
+ 
+   private void initializeSendableChoosers() {
+     positionChooser = new SendableChooser();
+     positionOneDefense = new SendableChooser();
+     positionTwoDefense = new SendableChooser();
+     positionThreeDefense = new SendableChooser();
+     positionFourDefense = new SendableChooser();
+     positionFiveDefense = new SendableChooser();
+   }
+ 
+   private void addPositionChooserOptions() {
+     positionChooser.addDefault("Position 1", 1);
+     positionChooser.addObject("Position 2", 2);
+     positionChooser.addObject("Position 3", 3);
+     positionChooser.addObject("Position 4", 4);
+     positionChooser.addObject("Position 5", 5);
+   }
+ 
+   private void addDefensesToAllDefenseSendableChooosers() {
+     addDefenseOptions(positionOneDefense);
+     addDefenseOptions(positionTwoDefense);
+     addDefenseOptions(positionThreeDefense);
+     addDefenseOptions(positionFourDefense);
+     addDefenseOptions(positionFiveDefense);
+   }
+ 
+   private void addDefenseOptions(SendableChooser chooser) {
+     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
+     chooser.addObject("Sally Port", Defense.SALLY_PORT);
+     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
+     chooser.addObject("Low Bar", Defense.LOW_BAR);
+     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
+     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
+     chooser.addObject("Moat", Defense.MOAT);
+     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
+   }
+ 
+   private void sendSendableChoosersToSmartDashboard() {
+     SmartDashboard.putData("PositionChooser", positionChooser);
+     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
+     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
+     SmartDashboard.putData("Position Three Defense Chooser",
+         positionThreeDefense);
 -    SmartDashboard.putData("Position Four Defense Chooser",
 -        positionFourDefense);
 -    SmartDashboard.putData("Position Five Defense Chooser",
 -        positionFiveDefense);
++    SmartDashboard
++        .putData("Position Four Defense Chooser", positionFourDefense);
++    SmartDashboard
++        .putData("Position Five Defense Chooser", positionFiveDefense);
+   }
+ 
+   @Override
+   public void autonomousInit() {
+     Scheduler.getInstance().run();
+ 
+     // get options chosen from drop down menu
+     Integer chosenPosition = (Integer) positionChooser.getSelected();
+     Integer chosenDefense = 0;
+ 
+     switch (chosenPosition) {
+     case 1:
+       chosenDefense = (Integer) positionOneDefense.getSelected();
+     case 2:
+       chosenDefense = (Integer) positionTwoDefense.getSelected();
+     case 3:
+       chosenDefense = (Integer) positionThreeDefense.getSelected();
+     case 4:
+       chosenDefense = (Integer) positionFourDefense.getSelected();
+     case 5:
+       chosenDefense = (Integer) positionFiveDefense.getSelected();
+     }
+ 
+     System.out.println("Chosen Position: " + chosenPosition);
+     System.out.println("Chosen Defense: " + chosenDefense);
+   }
+ 
+   @Override
+   public void autonomousPeriodic() {
+     Scheduler.getInstance().run();
+   }
+ 
+   @Override
+   public void teleopInit() {
+   }
+ 
+   @Override
+   public void teleopPeriodic() {
+     Scheduler.getInstance().run();
+ 
+   }
  }

diff --cc src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index 401f09e447487e9684868baaa8355c667d67405e,c0e9f316962820651c04364a797734843bba5dd8..0794b380a3ec01fbf51d05c9ec70ed27577274c1
--- 1/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
--- 2/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@@ -13,8 -13,8 +13,9 @@@ public class DefenseArm extends Subsyst
    private CANTalon defenseHand;
    private double hookHeight;
    private double footHeight;
-   private double[] potAngles = { 0, 45, 90 };
+   private double[] potHandAngles;
+   private double[] potArmAngles;
 +
    // angles corresponding to pre-determined heights we will need
  
    public DefenseArm() {