2015-01-16 19:29:55 -05:00
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#include "Collector.h"
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2015-01-11 16:02:49 -05:00
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#include "../RobotMap.h"
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2015-01-16 19:29:55 -05:00
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Collector::Collector() : Subsystem("Collector") {
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2015-02-02 19:56:27 -05:00
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windowMotorLeft=new CANTalon(COLLECTOR_WINDOW_LEFT_CAN);
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windowMotorRight=new CANTalon(COLLECTOR_WINDOW_RIGHT_CAN);
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collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
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collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
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boxSwitch=new DigitalInput(COLLECTOR_BOXSWITCH_DIO);
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2015-01-11 16:02:49 -05:00
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}
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2015-01-16 19:29:55 -05:00
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void Collector::InitDefaultCommand() {
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2015-01-11 16:02:49 -05:00
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}
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2015-02-02 12:14:27 -05:00
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void Collector::MoveArms(float a){
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2015-02-02 18:53:02 -05:00
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windowMotorLeft->Set(a);
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windowMotorRight->Set(-a);
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2015-02-02 12:14:27 -05:00
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}
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2015-02-04 20:57:33 -05:00
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void Collector::MoveRollers(double a){
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printf("Collector: %f\n", a);
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2015-02-02 18:53:02 -05:00
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collectorMotorLeft->Set(a);
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collectorMotorRight->Set(-a);
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2015-02-02 12:14:27 -05:00
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}
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2015-02-02 19:56:27 -05:00
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bool Collector::ArmSensor(){
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// TODO: include limit switch code
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return false;
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2015-02-02 12:14:27 -05:00
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}
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bool Collector::BoxCollected(){
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2015-02-04 20:57:33 -05:00
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return false;
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//return boxSwitch->Get();
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2015-01-17 12:21:16 -05:00
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}
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