2015-01-16 19:29:55 -05:00
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#include "Elevator.h"
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#include "../RobotMap.h"
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2015-01-19 12:08:25 -05:00
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Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
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2015-01-16 20:46:58 -05:00
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pot=new AnalogPotentiometer(0);
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2015-02-01 14:48:01 -05:00
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leftMotor=new CANTalon(1);
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rightMotor=new CANTalon(0);
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elevatorEncoder=new Encoder(0,1,false);
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offset=0;
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2015-01-31 12:16:02 -05:00
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height=0;
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2015-01-17 12:21:16 -05:00
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//SetAbsoluteTolerance(0.004);
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2015-01-16 19:29:55 -05:00
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}
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2015-01-17 12:21:16 -05:00
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void Elevator::InitDefaultCommand(){
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2015-01-16 19:29:55 -05:00
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}
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2015-01-16 20:46:58 -05:00
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float Elevator::GetPotValue(){
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return pot->Get();
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}
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void Elevator::Run(double power){
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leftMotor->Set(power);
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rightMotor->Set(power);
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}
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2015-02-01 14:48:01 -05:00
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void Elevator::SetOffset(double ht){
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offset=ht;
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}
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void Elevator::ResetEncoder(){
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elevatorEncoder->Reset();
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2015-01-31 12:16:02 -05:00
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}
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double Elevator::GetHeight(){
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2015-02-01 14:48:01 -05:00
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return elevatorEncoder->Get()+offset;
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2015-01-31 12:16:02 -05:00
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}
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