- 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