public DoubleJointedDefenseArm() {
defenseArmPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.ARM_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
+ Constants.DoubleJointedDefenseArm.ARM_CHANNEL,
+ Constants.DoubleJointedDefenseArm.FULL_RANGE,
+ Constants.DoubleJointedDefenseArm.OFFSET);
defenseHandPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.HAND_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
+ Constants.DoubleJointedDefenseArm.HAND_CHANNEL,
+ Constants.DoubleJointedDefenseArm.FULL_RANGE,
+ Constants.DoubleJointedDefenseArm.OFFSET);
- defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
- defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+ defenseArm = new CANTalon(Constants.DoubleJointedDefenseArm.ARM_PORT);
+ defenseHand = new CANTalon(Constants.DoubleJointedDefenseArm.HAND_PORT);
potHandAngles = createHandPotArray();
potArmAngles = createArmPotArray();
}
// TODO: figure out if measurements are all in inches
public double getArmHorizontalDisplacement() {
- double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ double armHorizontalDisplacement = Constants.DoubleJointedDefenseArm.ARM_LENGTH
* Math.cos(getArmPotAngle());
- double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ double handHorizontalDisplacement = Constants.DoubleJointedDefenseArm.HAND_LENGTH
* Math.cos(getHandPotAngle());
return (armHorizontalDisplacement + handHorizontalDisplacement);
}
public double getArmVerticalDisplacement() {
- double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
- double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ double armMounted = Constants.DoubleJointedDefenseArm.ARM_MOUNTED_HEIGHT;
+ double armVerticalDisplacement = Constants.DoubleJointedDefenseArm.ARM_LENGTH
* Math.sin(getArmPotAngle());
- double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ double handVerticalDisplacement = Constants.DoubleJointedDefenseArm.HAND_LENGTH
* Math.sin(getHandPotAngle());
return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
}