From 8d2a8664c313d5e6e8949cd9d566ac94475931a1 Mon Sep 17 00:00:00 2001
From: Yamini Adusumelli <ayamini2000@gmail.com>
Date: Tue, 26 Jan 2016 19:08:53 -0800
Subject: [PATCH] change array name from levelsToDegrees to armPotValues

---
 .../team3501/robot/subsystems/DefenseArm.java | 30 +++++++++++++++++--
 1 file changed, 27 insertions(+), 3 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
index c807f558..bf0e35bc 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DefenseArm.java
@@ -17,21 +17,45 @@ public class DefenseArm extends Subsystem {
   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;
+
   // angles at 0,45,90
   // degrees
 
   public DefenseArm() {
     potentiometer = new AnalogPotentiometer(Constants.DefenseArm.CHANNEL,
         FULL_RANGE, OFFSET);
-    defenseArmMotor = new CANTalon(Constants.DefenseArm.DEFENSE_ARM_MOTOR);
+    defenseArmMotor = new CANTalon(Constants.DefenseArm.PORT);
   }
 
-  public double getDistance(int desiredArmLocation) {
+  public double getLevel(int desiredArmLocation) {
     return levelsToDegrees[desiredArmLocation];
   }
 
-  public void moveArmTo() {
+  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;
+
+      }
 
+    }
   }
 
   @Override
-- 
2.30.2