Fix some errors

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java.orig b/src/org/usfirst/frc/team3501/robot/Constants.java.orig
new file mode 100644 (file)
index 0000000..0bb89f1
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java.orig
@@ -0,0 +1,112 @@
+package org.usfirst.frc.team3501.robot;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+
+/**
+ * The Constants stores constant values for all subsystems. This includes the
+ * port values for motors and sensors, as well as important operational
+ * constants for subsystems such as max and min values.
+ */
+
+public class Constants {
+  public static class OI {
+    // Computer Ports
+    public final static int LEFT_STICK_PORT = 0;
+    public final static int RIGHT_STICK_PORT = 1;
+    // Ports on the Joystick
+    public final static int TRIGGER_PORT = 1;
+    public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
+    public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
+    public final static int SHOOT_PORT = 4;
+    public final static int LOG_PORT = 5;
+  }
+
+  public static class DriveTrain {
+    // Drivetrain Motor Related Ports
+    public static final int FRONT_LEFT = 0;
+    public static final int FRONT_RIGHT = 0;
+    public static final int REAR_LEFT = 0;
+    public static final int REAR_RIGHT = 0;
+
+    // Encoder related ports
+    public final static int ENCODER_LEFT_A = 3;
+    public final static int ENCODER_LEFT_B = 4;
+    public final static int ENCODER_RIGHT_A = 2;
+    public final static int ENCODER_RIGHT_B = 1;
+
+    private final static double WHEEL_DIAMETER = 6.0; // in inches
+    private final static double PULSES_PER_ROTATION = 256; // in pulses
+    private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+    private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+    public final static double INCHES_PER_PULSE = (((Math.PI)
+        * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+        / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+  }
+
+  public static class Scaler {
+    // Piston channels
+    public final static int FORWARD_CHANNEL = 0;
+    public final static int REVERSE_CHANNEL = 0;
+
+    // Winch port
+    public final static int WINCH_MOTOR = 0;
+
+  }
+
+  public static class Shooter {
+    public static final int PORT = 0;
+    public static final int PUNCH_FORWARD_PORT = 0;
+    public static final int PUNCH_REVERSE_PORT = 1;
+    public static final int ANGLE_ADJUSTER_PORT = 0;
+
+    public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
+    public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
+
+    // Encoder port
+    public static final int ENCODER_PORT_A = 0;
+    public static final int ENCODER_PORT_B = 0;
+
+    public static enum State {
+      RUNNING, STOPPED;
+    }
+  }
+
+  public static class IntakeArm {
+    public static final int ROLLER_PORT = 0;
+    public static final int ARM_PORT = 1;
+    public static final int POT_CHANNEL = 0;
+    public static final double INTAKE_SPEED = 0.5;
+    public static final double OUTPUT_SPEED = -0.5;
+    public final static double FULL_RANGE = 270.0; // in degrees
+    public final static double OFFSET = -135.0; // in degrees
+    public static final double ZERO_ANGLE = 0;
+  }
+
+  public static class DefenseArm {
+    // Potentiometer related ports
+    public static final int ARM_CHANNEL = 0;
+    public static final int ARM_PORT = 0;
+    public static final int HAND_PORT = 1;
+    public static final int HAND_CHANNEL = 1;
+    public final static double FULL_RANGE = 270.0; // in degrees
+    public final static double OFFSET = -135.0; // in degrees
+<<<<<<< HEAD
+    public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
+    // level
+    public final static double ARM_LENGTH = 0; // TODO: find actual length
+    public final static double HAND_LENGTH = 0; // TODO: find actual length
+    public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
+    // height
+=======
+    public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
+    public final static double ARM_LENGTH = 0; // TODO: find actual length
+    public final static double HAND_LENGTH = 0; // TODO: find actual length
+    public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
+                                                       // height
+>>>>>>> add methods that return how far arm is sticking out and how high arm is at, and constants that need filling in
+  }
+
+  public enum Defense {
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
+  }
+}

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java.orig b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java.orig
new file mode 100755 (executable)
index 0000000..0ef15c9
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java.orig
@@ -0,0 +1,162 @@
+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;
+<<<<<<< HEAD
+  private double[] potHandAngles;
+  private double[] potArmAngles;
+=======
+  private double[] potAngles = { 0, 45, 90 };
+>>>>>>> Fix some errors
+
+  // 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);
+<<<<<<< HEAD
+    potHandAngles = createHandPotArray();
+    potArmAngles = createArmPotArray();
+=======
+>>>>>>> Fix some errors
+  }
+
+  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
+   */
+<<<<<<< HEAD
+  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;
+=======
+  public double getLevelValue(int level) {
+    if (level >= potAngles.length)
+      return potAngles[level];
+    else
+      return 0;
+>>>>>>> Fix some errors
+  }
+
+  /***
+   * 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() {
+  }
+}