construct intakePot and add intake potentiometer constants to Constants

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 68bbb0d9ec3ca62e150808998690c1adaf97d270..6e3f6ee41cb21da133f94622e040b7306a7a3d83 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -65,9 +65,11 @@ public class Constants {
   public static class IntakeArm {
     public static final int ROLLER_PORT = 0;
     public static final int INTAKE_PORT = 1;
-
+    public static final int INTAKE_CHANNEL = 0;
     public static final double INTAKE_SPEED = 0.5;
     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 static class DefenseArm {

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index 4f3daa6be6b130664ec00a16333b97308b26d977..96c0b3d1cd452e5d16f546ddb24ab143018b46a3 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -26,6 +26,10 @@ public class IntakeArm extends Subsystem {
   public IntakeArm() {
     intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
     intakeArm = new CANTalon(Constants.IntakeArm.INTAKE_PORT);
+    intakePot = new AnalogPotentiometer(
+        Constants.IntakeArm.INTAKE_CHANNEL,
+        Constants.IntakeArm.FULL_RANGE,
+        Constants.IntakeArm.OFFSET);
   }
 
   /*