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dent/Subsystems/Collector.cpp

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#include "Collector.h"
#include "../RobotMap.h"
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Collector::Collector(): Subsystem("Collector"){
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collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
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collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
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collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
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collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
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sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
}
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void Collector::InitDefaultCommand(){
}
void Collector::MoveRollers(double a){
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collectorMotorLeft->Set(a);
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collectorMotorBottom->Set(-a);
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collectorMotorRamp->Set(a);
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collectorMotorRight->Set(-a);
printf("Roller power: %f\n", a);
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}
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double Collector::GetSonarDistance(){
return sonarAnalog->GetAverageVoltage();
}
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// vim: ts=2:sw=2:et