dent/Subsystems/Elevator.cpp

#include "Elevator.h"
#include "../RobotMap.h"
Elevator::Elevator() {
  motor = new CANTalon(ELEVATOR_CAN);
  elevatorEncoder = new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
  elevatorBottom = new DigitalInput(ELEVATOR_BOTTOM_DIO);
  elevatorMiddle = new DigitalInput(ELEVATOR_MIDDLE_DIO);
  elevatorTop = new DigitalInput(ELEVATOR_TOP_DIO);
  // Checks if the elevator is drifting
  useEncoder = false;
}
void Elevator::InitDefaultCommand() {}
void Elevator::Run(double power) {
  // If we're not telling it to stop
  if(power != 0.0) {
    SetUseEncoder(false);
  }
  motor->Set(power);
}
void Elevator::ResetEncoder() {
  elevatorEncoder->Reset();
}
double Elevator::GetHeight() {
  return elevatorEncoder->Get();
}
bool Elevator::GetElevatorBottom() {
  SmartDashboard::PutBoolean("Elevator Bottom", !elevatorBottom->Get());
  return elevatorBottom->Get();
}
bool Elevator::GetElevatorMiddle() {
  return elevatorMiddle->Get();
}
bool Elevator::GetElevatorTop() {
  SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get());
  return elevatorTop->Get();
}
void Elevator::SetUseEncoder(bool use) {
  useEncoder = use;
}
bool Elevator::GetUseEncoder() {
  return useEncoder;
}
// vim: ts=2:sw=2:et