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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
33 lines
778 B
C++
33 lines
778 B
C++
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#include "BinElevator.h"
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#include "../RobotMap.h"
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BinElevator::BinElevator(){
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motor=new CANTalon(ELEVATOR_CAN);
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elevatorEncoder=new Encoder(0,1,false);
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offset=0;
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height=0;
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elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
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elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
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//SetAbsoluteTolerance(0.004);
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}
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void BinElevator::InitDefaultCommand(){
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}
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void BinElevator::Run(double power){
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motor->Set(power);
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}
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void BinElevator::SetOffset(double ht){
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offset=ht;
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}
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void BinElevator::ResetEncoder(){
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elevatorEncoder->Reset();
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}
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double BinElevator::GetHeight(){
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return elevatorEncoder->Get()+offset;
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}
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bool BinElevator::GetElevatorBottom(){
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return elevatorBottom->Get();
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}
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bool BinElevator::GetElevatorTop(){
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return elevatorTop->Get();
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}
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// vim: ts=2:sw=2:et
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