From: Shaina Chen <shaina.sierra@gmail.com>
Date: Fri, 5 Feb 2016 02:37:27 +0000 (-0800)
Subject: construct defenseHandPotentiometer
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=1d110d2f5800367bbf7874eeb1c4b33a6bc4e5e5

construct defenseHandPotentiometer
---

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index a5bb5176..3c6309b4 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -13,16 +13,22 @@ public class DefenseArm extends Subsystem {
   private CANTalon defenseHand;
   private double hookHeight;
   private double footHeight;
-  private Double[] potAngles;
+  private double[] potAngles;
+  // angles corresponding to pre-determined heights we will need
 
   public DefenseArm() {
     defenseArmPotentiometer = new AnalogPotentiometer(
         Constants.DefenseArm.ARM_CHANNEL,
         Constants.DefenseArm.FULL_RANGE,
         Constants.DefenseArm.OFFSET);
+    defenseHandPotentiometer = new AnalogPotentiometer(
+        Constants.DefenseArm.HAND_CHANNEL,
+        Constants.DefenseArm.FULL_RANGE,
+        Constants.DefenseArm.OFFSET);
 
     defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
     defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+    potAngles = createPotArray();
   }
 
   public double getArmPotAngle() {
@@ -37,11 +43,13 @@ public class DefenseArm extends Subsystem {
     return potAngles[desiredArmLocation];
   }
 
-  public Double[] putInValues() {
+  public double[] createPotArray() {
+    double[] arr = new double[3];
+
     for (int i = 0; i < 3; i++) {
-      potAngles[i] = (double) (45 * i);
+      arr[i] = 45 * i;
     }
-    return potAngles;
+    return arr;
   }
 
   /***