-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import org.usfirst.frc.team3501.robot.Constants;\r
-\r
-import edu.wpi.first.wpilibj.AnalogPotentiometer;\r
-import edu.wpi.first.wpilibj.CANTalon;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class DefenseArm extends Subsystem {\r
- // Defense arm related objects\r
- private AnalogPotentiometer defenseArmPotentiometer;\r
- private AnalogPotentiometer defenseHandPotentiometer;\r
- private CANTalon defenseArm;\r
- private CANTalon defenseHand;\r
- private double hookHeight;\r
- private double footHeight;\r
-\r
- private double[] potAngles = { 0, 45, 90 };\r
-\r
- // array;\r
-\r
- public DefenseArm() {\r
- defenseArmPotentiometer = new AnalogPotentiometer(\r
- Constants.DefenseArm.ARM_CHANNEL,\r
- Constants.DefenseArm.FULL_RANGE,\r
- Constants.DefenseArm.OFFSET);\r
-\r
- defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
- defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
- }\r
-\r
- public double getArmPotAngle() {\r
- return defenseArmPotentiometer.get();\r
- }\r
-\r
- public double getHandPotAngle() {\r
- return defenseHandPotentiometer.get();\r
- }\r
-\r
- /***\r
- * This method sets the voltage of the arm motor. The range is from [-1,1]. A\r
- * negative voltage makes the direction of the motor go backwards.\r
- *\r
- * @param speed\r
- * The voltage that you set the motor at. The range of the voltage of\r
- * the arm motor is from [-1,1]. A\r
- * negative voltage makes the direction of the motor go backwards.\r
- */\r
-\r
- public void setArmSpeed(double speed) {\r
- if (speed > 1)\r
- speed = 1;\r
- else if (speed < -1)\r
- speed = -1;\r
-\r
- defenseArm.set(speed);\r
- }\r
-\r
- /***\r
- * This method sets the voltage of the hand motor. The range is from [-1,1]. A\r
- * negative voltage makes the direction of the motor go backwards.\r
- *\r
- * @param speed\r
- * The voltage that you set the motor at. The range of the voltage of\r
- * the hand motor is from [-1,1]. A\r
- * negative voltage makes the direction of the motor go backwards.\r
- */\r
-\r
- public void setHandSpeed(double speed) {\r
- if (speed > 1)\r
- speed = 1;\r
- else if (speed < -1)\r
- speed = -1;\r
-\r
- defenseHand.set(speed);\r
- }\r
-\r
- @Override\r
- protected void initDefaultCommand() {\r
- }\r
-}\r
+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
+ private AnalogPotentiometer defenseArmPotentiometer;
+ private AnalogPotentiometer defenseHandPotentiometer;
+ private CANTalon defenseArm;
+ private CANTalon defenseHand;
+ private double hookHeight;
+ private double footHeight;
+
+ private double[] potAngles = { 0, 45, 90 };
+
+ // array;
+
+ public DefenseArm() {
+ defenseArmPotentiometer = new AnalogPotentiometer(
+ Constants.DefenseArm.ARM_CHANNEL,
+ Constants.DefenseArm.FULL_RANGE,
+ Constants.DefenseArm.OFFSET);
+
+ defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
+ defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+ }
+
+ public double getArmPotAngle() {
+ return defenseArmPotentiometer.get();
+ }
+
+ public double getHandPotAngle() {
+ return defenseHandPotentiometer.get();
+ }
+
+ /***
+ * 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);
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ }
+}