add a second potentiometer and motor (CANTalon) for the defense hand (2nd half of...

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index bf0e35bc4a89fa87b4d19134ee0d1fda693babb7..8a36c65221f4ec783488eb9fc26eb675b557ae38 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -8,54 +8,29 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 \r
 public class DefenseArm extends Subsystem {\r
   // Defense arm related objects\r
-  private AnalogPotentiometer potentiometer;\r
-  private CANTalon defenseArmMotor;\r
+  public AnalogPotentiometer defenseArmPotentiometer;\r
+  public AnalogPotentiometer defenseHandPotentiometer;\r
+  public CANTalon defenseArmMotor;\r
+  public CANTalon defenseHandMotor;\r
 \r
   // Defense arm specific constants that relate to the degrees per pulse value\r
   // for the potentiometers\r
-  private final static double PULSES_PER_ROTATION = 1; // in pulses\r
+  // private final static double PULSES_PER_ROTATION = 1; // in pulses\r
   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
+  private Double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level array;\r
 \r
-  // angles at 0,45,90\r
+  // angles at 0,45,90 (Potentiometer value readings)\r
   // degrees\r
 \r
   public DefenseArm() {\r
-    potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,\r
+    defenseArmPotentiometer = new AnalogPotentiometer(\r
+        Constants.DefenseArm.ARM_CHANNEL,\r
         FULL_RANGE, OFFSET);\r
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);\r
-  }\r
-\r
-  public double getLevel(int desiredArmLocation) {\r
-    return levelsToDegrees[desiredArmLocation];\r
-  }\r
-\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
+    defenseHandPotentiometer = new AnalogPotentiometer(\r
+        Constants.DefenseArm.HAND_CHANNEL);\r
+    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);\r
+    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);\r
   }\r
 \r
   @Override\r