2015-01-16 19:29:55 -05:00
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#ifndef ELEVATOR_H
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#define ELEVATOR_H
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#include "WPILib.h"
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2015-01-17 13:28:27 -05:00
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#include "Commands/PIDSubsystem.h"
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2015-02-07 13:08:24 -05:00
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class Elevator{
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private:
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2015-02-02 18:53:02 -05:00
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CANTalon *motor;
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2015-02-01 14:48:01 -05:00
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Encoder *elevatorEncoder;
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2015-01-16 20:46:58 -05:00
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static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
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2015-02-07 13:03:00 -05:00
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DigitalInput *elevatorBottom, *elevatorTop;
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2015-01-16 20:12:48 -05:00
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public:
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Elevator();
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void InitDefaultCommand();
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2015-01-16 20:46:58 -05:00
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void Run(double);
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2015-02-02 12:42:18 -05:00
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void ResetEncoder();
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2015-01-31 12:16:02 -05:00
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double GetHeight();
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2015-02-07 13:03:00 -05:00
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bool GetElevatorTop();
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bool GetElevatorBottom();
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2015-01-16 19:29:55 -05:00
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};
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#endif
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2015-02-08 12:26:15 -05:00
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// vim: ts=2:sw=2:et
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