From: Shaina Chen <shaina.sierra@gmail.com>
Date: Sat, 30 Jan 2016 05:38:35 +0000 (-0800)
Subject: Add set motor speed methods in defense arm and add potentiometer getter methods
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=ae33aa8d932b24826d569c12433715b93a34a794

Add set motor speed methods in defense arm and add potentiometer getter methods
---

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index a62aea04..c11c758e 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -75,6 +75,9 @@ public class Constants {
     public static final int ARM_CHANNEL = 0;
     public static final int ARM_PORT = 0;
     public static final int HAND_PORT = 1;
+    public final static double FULL_RANGE = 270.0; // in degrees
+    public final static double OFFSET = -135.0; // in degrees
+    public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
   }
 
   public static enum Direction {
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index b54a02f2..069ea45f 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -10,60 +10,33 @@ public class DefenseArm extends Subsystem {
   // Defense arm related objects
   private AnalogPotentiometer defenseArmPotentiometer;
   private AnalogPotentiometer defenseHandPotentiometer;
-  private CANTalon defenseArmMotor;
-  private CANTalon defenseHandMotor;
+  private CANTalon defenseArm;
+  private CANTalon defenseHand;
   private double hookHeight;
   private double footHeight;
 
   // Defense arm specific constants that relate to the degrees per pulse value
   // for the potentiometers
   // private final static double PULSES_PER_ROTATION = 1; // in pulses
-  public final static double FULL_RANGE = 270.0; // in degrees
-  public final static double OFFSET = -135.0; // in degrees
-  public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
 
   // array;
 
-  // do we want to use a hashmap??
-  // angles at 0,45,90 (Potentiometer value readings)
-  // degrees
-
   public DefenseArm() {
     defenseArmPotentiometer = new AnalogPotentiometer(
-        Constants.DefenseArm.ARM_CHANNEL, FULL_RANGE, OFFSET);
+        Constants.DefenseArm.ARM_CHANNEL,
+        Constants.DefenseArm.FULL_RANGE,
+        Constants.DefenseArm.OFFSET);
 
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
-    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
+    defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
+    defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
   }
 
-  /***
-   * This method gets the height of the hook from the
-   * ground. The hook is attached to the end of the hand, which is attached to
-   * the arm.
-   *
-   * @return hookHeight gets height of hook from ground. The hook is attached to
-   *         the end of the hand, which is attached the arm. The height is in
-   *         inches.
-   *
-   */
-
-  public double getHookHeight() {
-
-    return 0;
+  public double getArmPotAngle() {
+    return defenseArmPotentiometer.get();
   }
 
-  /***
-   * This method gets the height of the foot from the ground. The foot is
-   * attached to the end of the hand, which is attached to the arm.
-   *
-   * @return footHeight gets height of foot from ground. The foot is attached to
-   *         the end of the hand, which is attached the arm. The height is in
-   *         inches.
-   *
-   */
-
-  public double getFootHeight() {
-    return 0;
+  public double getHandPotAngle() {
+    return defenseHandPotentiometer.get();
   }
 
   /***
@@ -76,8 +49,13 @@ public class DefenseArm extends Subsystem {
    *          negative voltage makes the direction of the motor go backwards.
    */
 
-  public void setArmMotorSpeed(double speed) {
+  public void setArmSpeed(double speed) {
+    if (speed > 1)
+      speed = 1;
+    else if (speed < -1)
+      speed = -1;
 
+    defenseArm.set(speed);
   }
 
   /***
@@ -90,7 +68,13 @@ public class DefenseArm extends Subsystem {
    *          negative voltage makes the direction of the motor go backwards.
    */
 
-  public void setHandMotorSpeed(double speed) {
+  public void setHandSpeed(double speed) {
+    if (speed > 1)
+      speed = 1;
+    else if (speed < -1)
+      speed = -1;
+
+    defenseHand.set(speed);
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
index cbc7ff77..7f685fcb 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Scaler extends Subsystem {
-  // Scaler related objects
   private DoubleSolenoid piston;
   private CANTalon winch;
 
@@ -16,10 +15,10 @@ public class Scaler extends Subsystem {
     piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
         Constants.Scaler.REVERSE_CHANNEL);
     winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
+
   }
 
-  @Override
-  protected void initDefaultCommand() {
+  public void setPistonStatus(int status) {
 
   }
 
@@ -34,9 +33,9 @@ public class Scaler extends Subsystem {
   public void lowerScissorLift() {
     piston.set(DoubleSolenoid.Value.kForward);
   }
-  
+
   public void engageHook() {
-	  
+
   }
 
   public void disengageHook() {
@@ -50,4 +49,9 @@ public class Scaler extends Subsystem {
 
     winch.set(speed);
   }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
 }