team2059/ford-java
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This commit is contained in:
Austen Adler 2016-09-21 12:00:49 -04:00
parent 2fe8a25226
commit da3c1b24d6
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GPG Key ID: 7ECEE590CCDFE3F1
2 changed files with 43 additions and 45 deletions
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22
src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
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@ -37,39 +37,37 @@ public class MainArm extends PIDSubsystem {
public double getDegrees() {
return potToDegrees(getRaw());
}
public void resetLower(double speed){
if(!limitSwitchBottom.get()){
public void resetLower(double speed) {
if (!limitSwitchBottom.get()) {
System.out.println("PRESSDE");
moveArm(0);
return;
}else{
} else {
System.out.println("not pressed");
moveArm(speed);
}
}
public boolean getBottomPressed(){
public boolean getBottomPressed() {
return !limitSwitchBottom.get();
}
public void resetUpper(double speed){
if(!limitSwitchTop.get()){
public void resetUpper(double speed) {
if (!limitSwitchTop.get()) {
System.out.println("PRESSDE");
moveArm(0);
return;
}else{
} else {
System.out.println("not pressed");
moveArm(speed);
}
}
public boolean getTopPressed(){
public boolean getTopPressed() {
return !limitSwitchTop.get();
}
private double potToDegrees(double pot) {
if(!limitSwitchBottom.get()){
if (!limitSwitchBottom.get()) {
System.out.println("got");
min = getRaw();
}else if(!limitSwitchTop.get()){
} else if (!limitSwitchTop.get()) {
max = getRaw();
}
System.out.println((pot - min) / (Math.abs(min - max) / 90));