Moved DIOs into individual classes (untested)

CommandBase.cpp

@@ -2,12 +2,10 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
-#include "Subsystems/DIO.h"
 #include "Subsystems/AirCompressor.h"
 Drivetrain* CommandBase::drivetrain = NULL;
 Collector* CommandBase::collector = NULL;
 Elevator* CommandBase::elevator = NULL;
-DIO* CommandBase::dio = NULL;
 AirCompressor* CommandBase::airCompressor = NULL;
 OI* CommandBase::oi = NULL;
 CommandBase::CommandBase(char const *name) : Command(name) {
@@ -18,7 +16,6 @@ void CommandBase::init(){
   drivetrain = new Drivetrain();
   collector = new Collector();
   elevator = new Elevator();
-  dio = new DIO();
   airCompressor = new AirCompressor();
   oi = new OI();
 }

CommandBase.h

@@ -5,7 +5,6 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Elevator.h"
-#include "Subsystems/DIO.h"
 #include "Subsystems/AirCompressor.h"
 #include "OI.h"
 #include "WPILib.h"
@@ -18,7 +17,6 @@ class CommandBase: public Command {
     static Drivetrain *drivetrain;
     static Collector *collector;
     static Elevator *elevator;
-    static DIO* dio;
     static AirCompressor *airCompressor;
     static OI *oi;
 };

Commands/Elevator/Calibrate.cpp

@@ -10,7 +10,7 @@ void Calibrate::Execute(){
   DentRobot::elevator->Run(-0.4f);
 }
 bool Calibrate::IsFinished(){
-  if(DentRobot::dio->Get(DIO::ELEVATORBOTTOM)){
+  if(DentRobot::elevator->GetElevatorBottom()){
     DentRobot::elevator->ResetEncoder();
     DentRobot::elevator->SetOffset(0.99);
     return true;

Commands/Elevator/Lower.cpp

@@ -10,7 +10,7 @@ void Lower::Execute(){
   DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Lower::IsFinished(){
-  if (!DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM) || IsTimedOut()){
+  if (DentRobot::elevator->GetElevatorBottom()||IsTimedOut()){
     return true;
   }else{
     return false;

Commands/Elevator/Raise.cpp

@@ -10,7 +10,7 @@ void Raise::Execute(){
   DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
 }
 bool Raise::IsFinished(){
-  if (!DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM) || IsTimedOut()){
+  if (DentRobot::elevator->GetElevatorTop()||IsTimedOut()){
     return true;
   }else{
     return false;

DentRobot.cpp

@@ -4,7 +4,6 @@ OI* DentRobot::oi=NULL;
 Collector* DentRobot::collector=NULL;
 Drivetrain* DentRobot::drivetrain=NULL;
 Elevator* DentRobot::elevator=NULL;
-DIO* DentRobot::dio = NULL;
 AirCompressor* DentRobot::airCompressor=NULL;
 CommandGroup* DentRobot::aut=NULL;
 DentRobot::DentRobot(){
@@ -12,7 +11,6 @@ DentRobot::DentRobot(){
   collector=new Collector();
   drivetrain=new Drivetrain();
   elevator=new Elevator();
-  dio = new DIO();
   airCompressor=new AirCompressor();
   aut=new Autonomous();
   printf("Initialized");

DentRobot.h

@@ -3,7 +3,6 @@
 #include "WPILib.h"
 #include "OI.h"
 #include "Subsystems/Elevator.h"
-#include "Subsystems/DIO.h"
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/AirCompressor.h"
@@ -17,7 +16,6 @@ class DentRobot: public IterativeRobot {
     static Collector* collector;
     static Drivetrain* drivetrain;
     static Elevator* elevator;
-    static DIO* dio;
     static AirCompressor* airCompressor;
     static CommandGroup* aut;
     void RobotInit();

RobotMap.h

@@ -5,6 +5,8 @@
 
 // Elevator
 #define ELEVATOR_CAN 1
+#define ELEVATOR_BOTTOM_DIO 0
+#define ELEVATOR_TOP_DIO 1
 
 // Drivetrain
 #define DRIVE_FRONT_LEFT_CAN 2
@@ -17,7 +19,6 @@
 #define COLLECTOR_WINDOW_RIGHT_CAN 7
 #define COLLECTOR_LEFT_CAN 8
 #define COLLECTOR_RIGHT_CAN 9
-#define COLLECTOR_CALIBRATOR_DIO 0
 
 // Compressor
 #define COMPRESSOR_CAN 10

Subsystems/Collector.cpp

@@ -6,7 +6,6 @@ Collector::Collector() : Subsystem("Collector") {
   windowMotorRight=new CANTalon(COLLECTOR_WINDOW_RIGHT_CAN);
   collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
   collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
-  boxSwitch=new DigitalInput(COLLECTOR_CALIBRATOR_DIO);
 }
 void Collector::InitDefaultCommand() {
 }

Subsystems/Collector.h

@@ -6,7 +6,6 @@ class Collector: public Subsystem
 {
   private:
     CANTalon *windowMotorLeft, *windowMotorRight, *collectorMotorLeft, *collectorMotorRight;
-    DigitalInput *boxSwitch;
   public:
     Collector();
     void InitDefaultCommand();

Subsystems/DIO.cpp

@@ -1,21 +0,0 @@
-#include "DIO.h"
-#include "../RobotMap.h"
-DIO::DIO(){
-  elevatorTop=new DigitalInput(0);
-  elevatorBottom=new DigitalInput(1);
-}
-void DIO::InitDefaultCommand(){
-}
-bool DIO::Get(e_dioSig dioSig){
-  switch (dioSig){
-    case ELEVATORTOP:
-        return elevatorTop->Get();
-        break;
-    case ELEVATORBOTTOM:
-        return elevatorBottom->Get();
-        break;
-    default:
-        return false;
-        break;
-  }
-}

Subsystems/DIO.h

@@ -1,17 +0,0 @@
-#ifndef DIO_H
-#define DIO_H
-
-#include "WPILib.h"
-class DIO{
-  private:
-    DigitalInput *elevatorTop, *elevatorBottom;
-  public:
-    DIO();
-    enum e_dioSig{
-      ELEVATORTOP,
-      ELEVATORBOTTOM
-    };
-    void InitDefaultCommand();
-    bool Get(e_dioSig);
-};
-#endif

Subsystems/Elevator.cpp

@@ -5,6 +5,8 @@ Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
   elevatorEncoder=new Encoder(0,1,false);
   offset=0;
   height=0;
+  elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
+  elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
   //SetAbsoluteTolerance(0.004);
 }
 void Elevator::InitDefaultCommand(){
@@ -22,3 +24,9 @@ void Elevator::ResetEncoder(){
 double Elevator::GetHeight(){
   return elevatorEncoder->Get()+offset;
 }
+bool Elevator::GetElevatorBottom(){
+  return elevatorBottom->Get();
+}
+bool Elevator::GetElevatorTop(){
+  return elevatorTop->Get();
+}

Subsystems/Elevator.h

@@ -9,6 +9,7 @@ class Elevator/*: public PIDSubsystem*/{
     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();
@@ -16,5 +17,7 @@ class Elevator/*: public PIDSubsystem*/{
     void SetOffset(double);
     void ResetEncoder();
     double GetHeight();
+    bool GetElevatorTop();
+    bool GetElevatorBottom();
 };
 #endif