From: Yamini Adusumelli <ayamini2000@gmail.com>
Date: Wed, 27 Jan 2016 04:40:35 +0000 (-0800)
Subject: add a second potentiometer and motor (CANTalon) for the defense hand (2nd half of... 
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=dae46a1d3dded79e644629d788b742bf10511d74

add a second potentiometer and motor (CANTalon) for the defense hand (2nd half of the defense arm, the foot)
---

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index bf0e35bc..8a36c652 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -8,54 +8,29 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DefenseArm extends Subsystem {
   // Defense arm related objects
-  private AnalogPotentiometer potentiometer;
-  private CANTalon defenseArmMotor;
+  public AnalogPotentiometer defenseArmPotentiometer;
+  public AnalogPotentiometer defenseHandPotentiometer;
+  public CANTalon defenseArmMotor;
+  public CANTalon defenseHandMotor;
 
   // 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
+  // private final static double PULSES_PER_ROTATION = 1; // in pulses
   private final static double FULL_RANGE = 270.0; // in degrees
   private final static double OFFSET = -135.0; // in degrees
-  private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array;
+  private Double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level array;
 
-  // angles at 0,45,90
+  // angles at 0,45,90 (Potentiometer value readings)
   // degrees
 
   public DefenseArm() {
-    potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,
+    defenseArmPotentiometer = new AnalogPotentiometer(
+        Constants.DefenseArm.ARM_CHANNEL,
         FULL_RANGE, OFFSET);
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);
-  }
-
-  public double getLevel(int desiredArmLocation) {
-    return levelsToDegrees[desiredArmLocation];
-  }
-
-  public void moveArmTo(int levelsToDegrees) {
-
-  }
-
-  public void moveArmDown(int levelsToDegrees) {
-    // to move arm down levels
-    if (levelsToDegrees > 0 & levelsToDegrees < 45) {
-      levelsToDegrees = 0;
-      if (levelsToDegrees > 45 & levelsToDegrees < 90) {
-        levelsToDegrees = 45;
-
-      }
-    }
-  }
-
-  public void moveArmUp(int levelsToDegrees) {
-    // to move arm up levels
-    if (levelsToDegrees < 45 & levelsToDegrees > 0) {
-      levelsToDegrees = 45;
-      if (levelsToDegrees < 90 & levelsToDegrees > 45) {
-        levelsToDegrees = 90;
-
-      }
-
-    }
+    defenseHandPotentiometer = new AnalogPotentiometer(
+        Constants.DefenseArm.HAND_CHANNEL);
+    defenseArmMotor = new CANTalon(Constants.DefenseArm.ARM_PORT);
+    defenseHandMotor = new CANTalon(Constants.DefenseArm.HAND_PORT);
   }
 
   @Override