dent/Subsystems/BinElevator.h

#ifndef BINELEVATOR_H
#define BINELEVATOR_H

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