From: Shaina Chen <shaina.sierra@gmail.com>
Date: Fri, 5 Feb 2016 04:37:42 +0000 (-0800)
Subject: construct intakePot and add intake potentiometer constants to Constants
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=e780e49ea0c3eb3c108ef6ddb6b5395e4ce59bf9

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 68bbb0d9..6e3f6ee4 100644
--- 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 4f3daa6b..96c0b3d1 100755
--- 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);
   }
 
   /*