From e780e49ea0c3eb3c108ef6ddb6b5395e4ce59bf9 Mon Sep 17 00:00:00 2001 From: Shaina Chen Date: Thu, 4 Feb 2016 20:37:42 -0800 Subject: [PATCH] construct intakePot and add intake potentiometer constants to Constants --- src/org/usfirst/frc/team3501/robot/Constants.java | 4 +++- src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java | 4 ++++ 2 files changed, 7 insertions(+), 1 deletion(-) 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); } /* -- 2.30.2