// Robot ARM Constants

package org.usfirst.frc330.constants;

public final class ArmPos {
	
	// TODO: Units needed for each value
	
	private ArmPos(){}
	
	// Tolerance
	public static final double tolerance       = 0.5;
	
	// PID Constants
	public static final double proportional    = 0.05;
	public static final double integral        = 0.0;
	public static final double derivitive      = 0.0;
	
	// Analog Pot Limits- Defaults
	public static final double frontLimit      = 1.0;
	public static final double rearLimit       = -1.0;
	
	//Calibration Angles (Relative to Mast)
	public static final double frontCalAngle = 			49.0; //Angle from the mast     AP 2-14
	public static final double rearCalAngle  = 			311.0; //Angle from the mast     AP 2-14
	
	//Angles
	public static final double frontLimitAngle =			-39.0; // AP 2-14
	public static final double frontFlipStart =				0.0;
	public static final double rearStateFrontLimitAngle = 	73.78; // AP 2-14
	public static final double verticalAngle = 	  			 90.0;
	public static final double frontStateRearLimitAngle =	105.6;  //AP 2-14
	public static final double rearFlipStart =				180.0;
	public static final double rearLimitAngle = 			222.5;  //AP 2-14
	
	
	//Lengths
	//public static final double mastLength      = 22.0; 	//inches
	//public static final double armLength       = 44.0; 	//inches
	
	//Current
	public static final double currentLowerLimit = -50;
	public static final double currentUpperLimit = 50;
}	
@@ -15,17 +15,19 @@
 onstants
-%0A
+%0D%0A%0D
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@@ -56,17 +56,19 @@
 nstants;
-%0A
+%0D%0A%0D
 %0Apublic 
@@ -87,18 +87,20 @@
 ArmPos %7B
+%0D
 %0A%09
+%0D
 %0A%09// TOD
@@ -129,18 +129,20 @@
 ch value
+%0D
 %0A%09
+%0D
 %0A%09privat
@@ -153,18 +153,20 @@
 mPos()%7B%7D
+%0D
 %0A%09
+%0D
 %0A%09// Tol
@@ -171,16 +171,17 @@
 olerance
+%0D
 %0A%09public
@@ -223,18 +223,20 @@
   = 0.5;
+%0D
 %0A%09
+%0D
 %0A%09// PID
@@ -245,16 +245,17 @@
 onstants
+%0D
 %0A%09public
@@ -298,16 +298,17 @@
  = 0.05;
+%0D
 %0A%09public
@@ -346,24 +346,25 @@
       = 0.0;
+%0D
 %0A%09public sta
@@ -402,18 +402,20 @@
   = 0.0;
+%0D
 %0A%09
+%0D
 %0A%09// Ana
@@ -438,16 +438,17 @@
 Defaults
+%0D
 %0A%09public
@@ -490,16 +490,17 @@
   = 1.0;
+%0D
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@@ -543,18 +543,20 @@
  = -1.0;
+%0D
 %0A%09
+%0D
 %0A%09//Cali
@@ -588,16 +588,17 @@
 to Mast)
+%0D
 %0A%09public
@@ -668,32 +668,33 @@
 mast     AP 2-14
+%0D
 %0A%09public static 
@@ -765,18 +765,20 @@
  AP 2-14
+%0D
 %0A%09
+%0D
 %0A%09//Angl
@@ -779,16 +779,17 @@
 //Angles
+%0D
 %0A%09public
@@ -834,24 +834,25 @@
 %09%09%09-
-39
+40
 .0; // 
-AP 2-14
+JR 2-22%0D
 %0A%09pu
@@ -896,24 +896,25 @@
 rt =%09%09%09%090.0;
+%0D
 %0A%09public sta
@@ -971,24 +971,25 @@
 ; // AP 2-14
+%0D
 %0A%09public sta
@@ -1029,24 +1029,25 @@
 %09  %09%09%09 90.0;
+%0D
 %0A%09public sta
@@ -1107,16 +1107,17 @@
 /AP 2-14
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 %0A%09public
@@ -1162,16 +1162,17 @@
 %09%09180.0;
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@@ -1229,20 +1229,23 @@
 /AP 2-14
+%0D
 %0A%09
+%0D
 %0A%09
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 %0A%09//Leng
@@ -1247,16 +1247,17 @@
 /Lengths
+%0D
 %0A%09//publ
@@ -1312,16 +1312,17 @@
 //inches
+%0D
 %0A%09//publ
@@ -1377,18 +1377,20 @@
 //inches
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 %0A%09
+%0D
 %0A%09//Curr
@@ -1392,16 +1392,17 @@
 /Current
+%0D
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@@ -1446,16 +1446,17 @@
 t = -50;
+%0D
 %0A%09public
@@ -1499,11 +1499,12 @@
 it = 50;
+%0D
 %0A%7D%09

Allow arm to go a little lower