org.usfirst.frc.team302.robot.subsystems

Class ArmMath

java.lang.Object

org.usfirst.frc.team302.robot.subsystems.ArmMath

public class ArmMath
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
private double	h
private double	l
private double	L
private double	theta1
private double	theta2
private double	x1

Constructor Summary

Constructors

Constructor and Description
ArmMath(double h, double l, double L, double x1)

Method Summary

Modifier and Type	Method and Description
double[]	getArmAngleTargets(double extension, double height)
double	getExtension(double theta1, double theta2)
double	getHeight(double theta1, double theta2)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

h

private double h

l

private double l

L

private double L

x1

private double x1

theta1

private double theta1

theta2

private double theta2

Constructor Detail

ArmMath

public ArmMath(double h,
               double l,
               double L,
               double x1)

Method Detail

getHeight

public double getHeight(double theta1,
                        double theta2)

getExtension

public double getExtension(double theta1,
                           double theta2)

getArmAngleTargets

public double[] getArmAngleTargets(double extension,
                                   double height)