Camera works, untested binelevator changes

DentRobot.cpp

@@ -13,8 +13,7 @@ DentRobot::DentRobot(){
   elevator=new Elevator();
   binElevator=new BinElevator();
   aut=new Autonomous();
-  CameraServer::GetInstance()->SetQuality(50);
-  //the camera name (ex "cam0") can be found through the roborio web interface
+  CameraServer::GetInstance()->SetQuality(25);
   CameraServer::GetInstance()->StartAutomaticCapture("cam0");
   printf("Initialized");
 }

RobotMap.h

@@ -9,12 +9,16 @@
 #define ELEVATOR_COLELCT_TOTE_DIO 1
 #define ELEVATOR_READY_TOTE_DIO 2
 #define ELEVATOR_TOP_DIO 5
+#define ELEVATOR_ENCODERA 0
+#define ELEVATOR_ENCODERB 1
 
 // BinElevator
 #define BINELEVATOR_CAN 11
 #define BINELEVATOR_BOTTOM_DIO 6
 #define BINELEVATOR_COLELCT_BIN_DIO 7
 #define BINELEVATOR_TOP_DIO 8
+#define BINELEVATOR_ENCODERA 2
+#define BINELEVATOR_ENCODERB 3
 
 // Drivetrain
 #define DRIVE_FRONT_LEFT_CAN 2

Subsystems/BinElevator.cpp

@@ -2,7 +2,7 @@
 #include "../RobotMap.h"
 BinElevator::BinElevator(){
   motor=new CANTalon(BINELEVATOR_CAN);
-  elevatorEncoder=new Encoder(0,1,false);
+  elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA,BINELEVATOR_ENCODERB,false);
   offset=0;
   height=0;
   elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);

Subsystems/Elevator.cpp

@@ -2,26 +2,20 @@
 #include "../RobotMap.h"
 Elevator::Elevator(){
   motor=new CANTalon(ELEVATOR_CAN);
-  elevatorEncoder=new Encoder(0,1,false);
-  offset=0;
-  height=0;
+  elevatorEncoder=new Encoder(ELEVATOR_ENCODERA,ELEVATOR_ENCODERB,false);
   elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
   elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
-  //SetAbsoluteTolerance(0.004);
 }
 void Elevator::InitDefaultCommand(){
 }
 void Elevator::Run(double power){
   motor->Set(power);
 }
-void Elevator::SetOffset(double ht){
-  offset=ht;
-}
 void Elevator::ResetEncoder(){
   elevatorEncoder->Reset();
 }
 double Elevator::GetHeight(){
-  return elevatorEncoder->Get()+offset;
+  return elevatorEncoder->Get();
 }
 bool Elevator::GetElevatorBottom(){
   return elevatorBottom->Get();

Subsystems/Elevator.h

@@ -8,13 +8,11 @@ class Elevator{
     CANTalon *motor;
     Encoder *elevatorEncoder;
     static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
-    double offset, height;
     DigitalInput *elevatorBottom, *elevatorTop;
   public:
     Elevator();
     void InitDefaultCommand();
     void Run(double);
-    void SetOffset(double);
     void ResetEncoder();
     double GetHeight();
     bool GetElevatorTop();