From f6cd6accecd696d0b7b4ceb34d7ffeca82ac4b2e Mon Sep 17 00:00:00 2001
From: mayabartels <mayabartels01@gmail.com>
Date: Mon, 28 Jan 2019 16:28:12 -0800
Subject: [PATCH] Changed angle stuff from wrist to arm

---
 .../main/java/org/usfirst/frc4388/robot/Robot.java    |  3 ++-
 .../org/usfirst/frc4388/robot/subsystems/Arm.java     | 11 +++++++++++
 .../org/usfirst/frc4388/robot/subsystems/Wrist.java   | 11 -----------
 3 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
index b4543fa..de0d898 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
@@ -71,7 +71,8 @@ public class Robot extends IterativeRobot
 	    operationModeChooser.addObject("Competition", OperationMode.COMPETITION);
 		SmartDashboard.putData("Operation Mode", operationModeChooser);
 
-		wrist.setInitAngle();
+		//Initializing the angle of the arm to be 
+		arm.setInitAngle();
 
 		//ledLights.setAllLightsOn(false);
 	  } 
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
index 7e8d8e7..29fc99c 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
@@ -28,6 +28,8 @@ public class Arm extends Subsystem implements Loop
 	// One revolution of the 1-3 GEAR RATION ON THE ARM	* 4096 ticks 
 	public static final double ENCODER_TICKS_TO_DEGREES = (36.0 / 12.0) * (36.0 / 24.0) * (34.0 / 24.0) * 4096.0 / (1.88 * Math.PI);   
 	
+	public double ARM_ANGLE_DEGREES = 0;
+
 	// Defined speeds
 	public static final double JOYSTICK_INCHES_PER_MS_HI = 0.75;
 	
@@ -85,6 +87,15 @@ public class Arm extends Subsystem implements Loop
 		}
 	}
 
+	//Set the degree to negative angle after initializing 
+	public void setInitAngle()
+	{
+	  double armAngleToHoriz = 70;
+	  double initAngle = ENCODER_TICKS_TO_DEGREES - armAngleToHoriz;
+	  
+	  ARM_ANGLE_DEGREES = initAngle;
+	}
+
 	@Override
 	public void initDefaultCommand() {
 	}
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
index 33e2628..ffc431e 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
@@ -42,8 +42,6 @@ public class Wrist extends Subsystem
   //Encoder ticks to inches for encoders
   public static final double ENCODER_TICKS_TO_INCHES = Constants.kArmEncoderTicksPerDegree;
   public static final double ENCODER_TICKS_TO_DEGREES = Constants.kWristEncoderTicksPerDegree * Math.PI;
-
-  public double WRIST_ANGLE_DEGREES = 0;
   
   // PID controller and params
 	private MPTalonPIDController mpController;
@@ -91,15 +89,6 @@ public class Wrist extends Subsystem
     }
   }
 
-  //Set the degree to negative angle after initializing 
-  public void setInitAngle()
-  {
-    double armAngleToHoriz = 70;
-    double initAngle = ENCODER_TICKS_TO_DEGREES - armAngleToHoriz;
-    
-    WRIST_ANGLE_DEGREES = initAngle;
-  }
-
   //Method for setting the control mode for the wrist
   private synchronized void setWristControlMode(WristControlMode controlMode) 
   {