From 3d825b6175433858351fa74990d3853af860211d Mon Sep 17 00:00:00 2001 From: Yamini Adusumelli Date: Sat, 23 Jan 2016 16:02:17 -0800 Subject: [PATCH] add defenseArmMotor CANTalon and comment for array --- .../frc/team3501/robot/subsystems/DefenseArm.java | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java index 5461efc6..e78b3e06 100755 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java @@ -3,18 +3,22 @@ package org.usfirst.frc.team3501.robot.subsystems; import org.usfirst.frc.team3501.robot.Constants; import edu.wpi.first.wpilibj.AnalogPotentiometer; +import edu.wpi.first.wpilibj.CANTalon; import edu.wpi.first.wpilibj.command.Subsystem; public class DefenseArm extends Subsystem { // Defense arm related objects private AnalogPotentiometer potentiometer; + private CANTalon defenseArmMotor; // 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 FULL_RANGE = 270.0; // in degrees private final static double OFFSET = -135.0; // in degrees - private Double[] potentiometerArray; // change name, 5 to another # + private Double[] levelsToDegrees = { 0.0, 45.0, 90.0 }; // 3 level array; + // angles at 0,45,90 + // degrees public DefenseArm() { potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL, @@ -22,14 +26,7 @@ public class DefenseArm extends Subsystem { } public double getDistance(int desiredArmLocation) { - return potentiometerArray[desiredArmLocation]; - } - - public Double[] putInValues() { - for (int i = 0; i < 3; i++) { - potentiometerArray[i] = (double) (45 * i); - } - return potentiometerArray; + return levelsToDegrees[desiredArmLocation]; } public void moveArmTo() { -- 2.30.2