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 final static double ZERO_ANGLE = 0;
+ public final static double ZERO_ANGLE = 180; // in degrees
+ public final static double ARM_LENGTH = 15; // in inches
}
public static class DefenseArm {
* @return angle of potentiometer
*/
public double getArmAngle() {
- return intakePot.get();
+ return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE;
+ }
+
+ public double getArmHeight() {
+ return Constants.IntakeArm.ARM_LENGTH * Math.sin(getArmAngle());
}
@Override