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dent/Subsystems/BinElevator.h

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#ifndef BINELEVATOR_H
#define BINELEVATOR_H
#include "WPILib.h"
#include "Commands/PIDSubsystem.h"
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/**
* @brief Controls the bin elevator
*/
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class BinElevator{
private:
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CANTalon *motor; //<! The bin elevator motor
Encoder *elevatorEncoder; //<! The bin elevator encoder (unused)
DigitalInput *elevatorBottom, //<! The bottom bin elevator sensor (unused)
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*elevatorTop; //<! The top bin elevator sensor (unused)
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public:
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/**
* @brief Constructs BinElevator
*/
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BinElevator();
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/**
* @brief No action
*/
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void InitDefaultCommand();
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/**
* @brief Runs the bin elevator
*
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* @param power The power to run the bin elevator (-1.0 to 1.0)
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*/
void Run(double power);
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/**
* @brief Sets the encoder value to 0 (unused)
*/
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void ResetEncoder();
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/**
* @brief Gets the height of the bin elevator
*
* @return The height of the bin elevator
*/
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double GetHeight();
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/**
* @brief Gets the status of the top sensor
*
* @return True if the sensor is activated
*/
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bool GetElevatorTop();
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/**
* @brief Gets the status of the bottom sensor
*
* @return True if the sensor is activated
*/
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bool GetElevatorBottom();
};
#endif
// vim: ts=2:sw=2:et