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
defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+ potHandAngles = createHandPotArray();
+ potArmAngles = createArmPotArray();
}
public double getArmPotAngle() {
* @return
* the angle of the arm corresponding to that arm location
*/
- public double getLevelValue(int level) {
- if (level >= potAngles.length)
- return potAngles[level];
- else
- return 0;
+
+ 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;
}
/***