public void armUse() {
// Arm contols
int armPotValue = armPot.getValue();
if (xboxDriver.getBtnB()) { // arm for slot feeding
if (armPotValue < armSlotFeedingValue - angleTolerance) {
armVictor.set(-.2);
} else if (armPotValue < armSlotFeedingValue - focusTolerance) {
armVictor.set(-.02);
} else if (armPotValue > armSlotFeedingValue + angleTolerance) {
armVictor.set(.5);
} else if (armPotValue > armSlotFeedingValue + focusTolerance) {
armVictor.set(.05);
} else {
armVictor.set(0);
}
} else if (xboxDriver.getBtnY()) { // arm for shovel feeding
if (armPotValue < armShovelFeedingValue - angleTolerance) {
armVictor.set(-.2);
} else if (armPotValue < armShovelFeedingValue - focusTolerance) {
armVictor.set(-.02);
} else if (armPotValue > armShovelFeedingValue + angleTolerance) {
armVictor.set(.5);
} else if (armPotValue > armShovelFeedingValue + focusTolerance) {
armVictor.set(.05);
} else {
armVictor.set(0);
}
} else {
if (xboxDriver.getBtnLB() && armPotValue > minArmValue) {
armVictor.set(-.2); // driver left bumper = down, right bumper = up;
} else if (xboxDriver.getBtnRB() && armPotValue < maxArmValue) {
armVictor.set(.5);
} else {
armVictor.set(0);
}
if (xboxDriver.getBtnA()
&& armPotValue
< climbStopValue) { // when driver controls, hold button A to use winch, release to
// stop
winchRelay.set(Relay.Value.kOn);
winchRelay.setDirection(Relay.Direction.kReverse);
} else {
winchRelay.set(Relay.Value.kOff);
}
}
} // end of arm use
