Fixes #2. Rename 'bins' to 'containers'.

Commands/Autonomous/Autonomous.cpp

@@ -3,8 +3,8 @@
 #include "../../DentRobot.h"
 #include "../Elevator/Raise.h"
 #include "../Elevator/Lower.h"
-#include "../BinElevator/BinRaise.h"
+#include "../ContainerElevator/ContainerRaise.h"
-#include "../BinElevator/BinLower.h"
+#include "../ContainerElevator/ContainerLower.h"
 #include "AutoDrive.h"
 #include "Turn.h"
 #include "../Collector/RollIn.h"
@@ -25,21 +25,21 @@ Autonomous::Autonomous(int seq){
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 2:
-      // Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
+      // Lower ContainerElevator, collect container, turn, drive to AutoZone (TM)
-      AddSequential(new BinLower(0.5));
+      AddSequential(new ContainerLower(0.5));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0, 0.75));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Container Distance"), 0, 0.75));
-      AddSequential(new BinRaise(1.0));
+      AddSequential(new ContainerRaise(1.0));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 3:
-      // Collect a tote with BinElevator, turn, drive to Auto Zone (TM)
+      // Collect a tote with ContainerElevator, turn, drive to Auto Zone (TM)
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
-      AddSequential(new BinRaise(1.2));
+      AddSequential(new ContainerRaise(1.2));
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
-      AddSequential(new BinLower(1.0));
+      AddSequential(new ContainerLower(1.0));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 4:
@@ -66,15 +66,15 @@ Autonomous::Autonomous(int seq){
       AddSequential(new ReleaseTote());
       break;
     case 5:
-      // Same as auto 4, but navigate around bins
+      // Same as auto 4, but navigate around containers
       //TODO: Implement this
       break;
     case 6:
-      // Collect 1 bin and 1 tote
+      // Collect 1 container and 1 tote
       //TODO: Implement this
       break;
     case 7:
-      // Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
+      // Same as auto 4 with (Three|Two) totes checked, collect container, drive to Auto Zone (TM), release totes
       //TODO: Implement this
       break;
     default:

Commands/BinElevator/BinCloseArms.cpp

@@ -1,20 +0,0 @@
-#include "BinCloseArms.h"
-#include "../../DentRobot.h"
-#include "../../OI.h"
-BinCloseArms::BinCloseArms(double timeout): Command("BinCloseArms"){
-  SetTimeout(timeout);
-}
-void BinCloseArms::Initialize(){
-}
-void BinCloseArms::Execute(){
-  DentRobot::pneumatics->SetOpen(false);
-}
-bool BinCloseArms::IsFinished(){
-  return true;
-}
-void BinCloseArms::End(){
-}
-void BinCloseArms::Interrupted(){
-  End();
-}
-// vim: ts=2:sw=2:et

Commands/BinElevator/BinLower.cpp

@@ -1,26 +0,0 @@
-#include "BinLower.h"
-#include "../../DentRobot.h"
-#include "../../OI.h"
-BinLower::BinLower(float timeout): Command("BinLower"){
-  SetTimeout(timeout);
-}
-void BinLower::Initialize(){
-}
-void BinLower::Execute(){
-  DentRobot::binElevator->Run(-1.0);
-}
-bool BinLower::IsFinished(){
-  if(/*!DentRobot::binElevator->GetElevatorBottom()||*/IsTimedOut()){
-    printf("Robot stoped BinLowering. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorBottom());
-    return true;
-  }else{
-    return false;
-  }
-}
-void BinLower::End(){
-  DentRobot::binElevator->Run(0.0f);
-}
-void BinLower::Interrupted(){
-  End();
-}
-// vim: ts=2:sw=2:et

Commands/BinElevator/BinOpenArms.cpp

@@ -1,20 +0,0 @@
-#include "BinOpenArms.h"
-#include "../../DentRobot.h"
-#include "../../OI.h"
-BinOpenArms::BinOpenArms(double timeout): Command("BinOpenArms"){
-  SetTimeout(timeout);
-}
-void BinOpenArms::Initialize(){
-}
-void BinOpenArms::Execute(){
-  DentRobot::pneumatics->SetOpen(true);
-}
-bool BinOpenArms::IsFinished(){
-  return true;
-}
-void BinOpenArms::End(){
-}
-void BinOpenArms::Interrupted(){
-  End();
-}
-// vim: ts=2:sw=2:et

Commands/BinElevator/BinRaise.cpp

@@ -1,26 +0,0 @@
-#include "BinRaise.h"
-#include "../../DentRobot.h"
-#include "../../OI.h"
-BinRaise::BinRaise(double timeout): Command("BinRaise"){
-  SetTimeout(timeout);
-}
-void BinRaise::Initialize(){
-}
-void BinRaise::Execute(){
-  DentRobot::binElevator->Run(1.0);
-}
-bool BinRaise::IsFinished(){
-  if(/*!DentRobot::binElevator->GetElevatorTop()||*/IsTimedOut()){
-    printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorTop());
-    return true;
-  }else{
-    return false;
-  }
-}
-void BinRaise::End(){
-  DentRobot::binElevator->Run(0.0f);
-}
-void BinRaise::Interrupted(){
-  End();
-}
-// vim: ts=2:sw=2:et

Commands/ContainerElevator/ContainerCloseArms.cpp

@@ -0,0 +1,20 @@
+#include "ContainerCloseArms.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+ContainerCloseArms::ContainerCloseArms(double timeout): Command("ContainerCloseArms"){
+  SetTimeout(timeout);
+}
+void ContainerCloseArms::Initialize(){
+}
+void ContainerCloseArms::Execute(){
+  DentRobot::pneumatics->SetOpen(false);
+}
+bool ContainerCloseArms::IsFinished(){
+  return true;
+}
+void ContainerCloseArms::End(){
+}
+void ContainerCloseArms::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/ContainerElevator/ContainerCloseArms.h

@@ -1,22 +1,22 @@
-#ifndef BINCLOSEARMS_H
+#ifndef CONTAINER_CLOSEARMS_H
-#define BINCLOSEARMS_H
+#define CONTAINER_CLOSEARMS_H
 
 #include "Commands/Command.h"
 #include "WPILib.h"
 
 /**
- * @brief Closes BinElevatorArms (NOT USED)
+ * @brief Closes ContainerElevatorArms (NOT USED)
  *
- * Sets the solenoid to close the arms of the BinElevator
+ * Sets the solenoid to close the arms of the ContainerElevator
  */
-class BinCloseArms: public Command{
+class ContainerCloseArms: public Command{
   public:
     /**
-     * @brief Constructs BinCloseArms
+     * @brief Constructs ContainerCloseArms
      *
      * @param timeout The timeout
      */
-    BinCloseArms(double timeout = 0.5);
+    ContainerCloseArms(double timeout = 0.5);
     /**
      * @brief Initializes the class
      */

Commands/ContainerElevator/ContainerLower.cpp

@@ -0,0 +1,26 @@
+#include "ContainerLower.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+ContainerLower::ContainerLower(float timeout): Command("ContainerLower"){
+  SetTimeout(timeout);
+}
+void ContainerLower::Initialize(){
+}
+void ContainerLower::Execute(){
+  DentRobot::containerElevator->Run(-1.0);
+}
+bool ContainerLower::IsFinished(){
+  if(/*!DentRobot::containerElevator->GetElevatorBottom()||*/IsTimedOut()){
+    printf("Robot stoped ContainerLowering. Sensor based? %d\n", !DentRobot::containerElevator->GetElevatorBottom());
+    return true;
+  }else{
+    return false;
+  }
+}
+void ContainerLower::End(){
+  DentRobot::containerElevator->Run(0.0f);
+}
+void ContainerLower::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/ContainerElevator/ContainerLower.h

@@ -1,27 +1,27 @@
-#ifndef BINLOWER_H
+#ifndef CONTAINER_LOWER_H
-#define BINLOWER_H
+#define CONTAINER_LOWER_H
 
 #include "Commands/Command.h"
 #include "WPILib.h"
 
 /**
- * @brief Lowers the bin elevator until a timeout is reached
+ * @brief Lowers the container elevator until a timeout is reached
  */
-class BinLower: public Command{
+class ContainerLower: public Command{
   private:
   public:
     /**
-     * @brief Constructs BinLower
+     * @brief Constructs ContainerLower
      *
      * @param timeout The timeout
      */
-    BinLower(float timeout);
+    ContainerLower(float timeout);
     /**
      * @brief Initializes the class
      */
     void Initialize();
     /**
-     * @brief Lowers the bin elevator at -1.0 power
+     * @brief Lowers the container elevator at -1.0 power
      */
     void Execute();
     /**
@@ -31,7 +31,7 @@ class BinLower: public Command{
      */
     bool IsFinished();
     /**
-     * @brief Sets the bin elevator to stop
+     * @brief Sets the container elevator to stop
      */
     void End();
     /**

Commands/ContainerElevator/ContainerOpenArms.cpp

@@ -0,0 +1,20 @@
+#include "ContainerOpenArms.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+ContainerOpenArms::ContainerOpenArms(double timeout): Command("ContainerOpenArms"){
+  SetTimeout(timeout);
+}
+void ContainerOpenArms::Initialize(){
+}
+void ContainerOpenArms::Execute(){
+  DentRobot::pneumatics->SetOpen(true);
+}
+bool ContainerOpenArms::IsFinished(){
+  return true;
+}
+void ContainerOpenArms::End(){
+}
+void ContainerOpenArms::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/ContainerElevator/ContainerOpenArms.h

@@ -1,24 +1,24 @@
-#ifndef BINOPENARMS_H
+#ifndef CONTAINER_OPENARMS_H
-#define BINOPENARMS_H
+#define CONTAINER_OPENARMS_H
 
 #include "Commands/Command.h"
 #include "WPILib.h"
 
 /**
- * @brief Opens bin arms (unused)
+ * @brief Opens container arms (unused)
  */
-class BinOpenArms: public Command{
+class ContainerOpenArms: public Command{
   public:
     /**
-     * @brief Constructs BinOpenArms
+     * @brief Constructs ContainerOpenArms
      *
      * @param timeout The timeout
      */
-    BinOpenArms(double timeout);
+    ContainerOpenArms(double timeout);
     /**
-     * @brief Constructs BinOpenArms
+     * @brief Constructs ContainerOpenArms
      */
-    BinOpenArms();
+    ContainerOpenArms();
     /**
      * @brief Initializes the class
      */

Commands/ContainerElevator/ContainerRaise.cpp

@@ -0,0 +1,26 @@
+#include "ContainerRaise.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+ContainerRaise::ContainerRaise(double timeout): Command("ContainerRaise"){
+  SetTimeout(timeout);
+}
+void ContainerRaise::Initialize(){
+}
+void ContainerRaise::Execute(){
+  DentRobot::containerElevator->Run(1.0);
+}
+bool ContainerRaise::IsFinished(){
+  if(/*!DentRobot::containerElevator->GetElevatorTop()||*/IsTimedOut()){
+    printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::containerElevator->GetElevatorTop());
+    return true;
+  }else{
+    return false;
+  }
+}
+void ContainerRaise::End(){
+  DentRobot::containerElevator->Run(0.0f);
+}
+void ContainerRaise::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/ContainerElevator/ContainerRaise.h

@@ -1,27 +1,27 @@
-#ifndef BINRAISE_H
+#ifndef CONTAINER_RAISE_H
-#define BINRAISE_H
+#define CONTAINER_RAISE_H
 
 #include "Commands/Command.h"
 #include "WPILib.h"
 
 /**
- * @brief Raises the bin elevator until a timeout is reached
+ * @brief Raises the container elevator until a timeout is reached
  */
-class BinRaise: public Command{
+class ContainerRaise: public Command{
   private:
   public:
     /**
-     * @brief Constructs BinRaise
+     * @brief Constructs ContainerRaise
      *
      * @param timeout Timeout in seconds
      */
-    BinRaise(double timeout);
+    ContainerRaise(double timeout);
     /**
      * @brief Initializes the class
      */
     void Initialize();
     /**
-     * @brief Raises the bin elevator at 1.0 power
+     * @brief Raises the container elevator at 1.0 power
      */
     void Execute();
     /**
@@ -31,7 +31,7 @@ class BinRaise: public Command{
      */
     bool IsFinished();
     /**
-     * @brief Sets the bin elevator to stop
+     * @brief Sets the container elevator to stop
      */
     void End();
     /**

DentRobot.cpp

@@ -6,7 +6,7 @@ OI* DentRobot::oi=NULL;
 Collector* DentRobot::collector=NULL;
 Drivetrain* DentRobot::drivetrain=NULL;
 Elevator* DentRobot::elevator=NULL;
-BinElevator* DentRobot::binElevator=NULL;
+ContainerElevator* DentRobot::containerElevator=NULL;
 CommandGroup* DentRobot::aut=NULL;
 Pneumatics* DentRobot::pneumatics=NULL;
 DentRobot::DentRobot(){
@@ -14,7 +14,7 @@ DentRobot::DentRobot(){
   collector=new Collector();
   drivetrain=new Drivetrain();
   elevator=new Elevator();
-  binElevator=new BinElevator();
+  containerElevator=new ContainerElevator();
   pneumatics=new Pneumatics();
   //CameraServer::GetInstance()->SetQuality(25);
   //CameraServer::GetInstance()->StartAutomaticCapture("cam0");
@@ -33,11 +33,11 @@ void DentRobot::RobotInit(){
   SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
   // Distance (in time) to auto tote (used in sequence 3)
   SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
-  SmartDashboard::PutNumber("Auto Bin Distance", 0.25);
+  SmartDashboard::PutNumber("Auto Container Distance", 0.25);
   SmartDashboard::PutNumber("TurnAmount", 1.8);
   // Elevators
-  SmartDashboard::PutBoolean("Bin Elevator Bottom", false);
+  SmartDashboard::PutBoolean("Container Elevator Bottom", false);
-  SmartDashboard::PutBoolean("Bin Elevator Top", false);
+  SmartDashboard::PutBoolean("Container Elevator Top", false);
   SmartDashboard::PutBoolean("Elevator Bottom", false);
   SmartDashboard::PutBoolean("Elevator Top", false);
   //Drive speed

DentRobot.h

@@ -3,7 +3,7 @@
 #include "WPILib.h"
 #include "OI.h"
 #include "Subsystems/Elevator.h"
-#include "Subsystems/BinElevator.h"
+#include "Subsystems/ContainerElevator.h"
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Pneumatics.h"
@@ -41,9 +41,9 @@ class DentRobot: public IterativeRobot{
      */
     static Elevator* elevator;
     /**
-     * @brief The back one-motor Elevator for lifting totes or bins
+     * @brief The back one-motor Elevator for lifting totes or containers
      */
-    static BinElevator* binElevator;
+    static ContainerElevator* containerElevator;
     /**
      * @brief The Pneumatics system (unused)
      */

OI.cpp

@@ -3,10 +3,10 @@
 #include "Commands/Elevator/Raise.h"
 #include "Commands/Collector/RollIn.h"
 #include "Commands/Collector/RollOut.h"
-#include "Commands/BinElevator/BinLower.h"
+#include "Commands/ContainerElevator/ContainerLower.h"
-#include "Commands/BinElevator/BinRaise.h"
+#include "Commands/ContainerElevator/ContainerRaise.h"
-#include "Commands/BinElevator/BinCloseArms.h"
+#include "Commands/ContainerElevator/ContainerCloseArms.h"
-#include "Commands/BinElevator/BinOpenArms.h"
+#include "Commands/ContainerElevator/ContainerOpenArms.h"
 #include "Commands/Autonomous/CollectTote.h"
 #include "Commands/Autonomous/ReleaseTote.h"
 #include "Commands/Test/CheckRobot.h"
@@ -28,19 +28,19 @@ OI::OI(){
   right4->CancelWhenPressed(raise);
   right6->WhenPressed(raise);
   right6->CancelWhenPressed(lower);
-  // BinElevator
+  // ContainerElevator
   JoystickButton *right3=new JoystickButton(rightStick, 3);
   JoystickButton *right5=new JoystickButton(rightStick, 5);
   //JoystickButton *right7=new JoystickButton(rightStick, 7);
   //JoystickButton *right8=new JoystickButton(rightStick, 8);
-  //right7->WhenPressed(new BinOpenArms());
+  //right7->WhenPressed(new ContainerOpenArms());
-  //right8->WhenPressed(new BinCloseArms());
+  //right8->WhenPressed(new ContainerCloseArms());
-  binRaise=new BinRaise(3.0);
+  containerRaise=new ContainerRaise(3.0);
-  binLower=new BinLower(2.0);
+  containerLower=new ContainerLower(2.0);
-  right3->WhileHeld(binLower);
+  right3->WhileHeld(containerLower);
-  right3->CancelWhenPressed(binRaise);
+  right3->CancelWhenPressed(containerRaise);
-  right5->WhileHeld(binRaise);
+  right5->WhileHeld(containerRaise);
-  right5->CancelWhenPressed(binLower);
+  right5->CancelWhenPressed(containerLower);
   // Cancel
   JoystickButton *right12=new JoystickButton(rightStick, 12);
   right12->CancelWhenPressed(raise);

OI.h

@@ -17,8 +17,8 @@ class OI{
     OI();
     Command *raise,    //!< Raise command
             *lower,    //!< Lower command
-            *binLower, //!< BinLower command
+            *containerLower, //!< ContainerLower command
-            *binRaise; //!< BinRaise command
+            *containerRaise; //!< ContainerRaise command
     /**
      * @brief Returns the right joystick
      *

README.md

@@ -6,8 +6,8 @@
 + [Mecanum drivetrain](Subsystems/Drivetrain.cpp)
 + [Collector](Subsystems/Collector.cpp) to collect totes in main elevator
 + [Internal elevator](Subsystems/Elevator.cpp) for totes
-+ [External elevator](Subsystems/BinElevator.cpp) for bins or totes
++ [External elevator](Subsystems/ContainerElevator.cpp) for containers or totes
-+ [Pneumatics](Subsystems/Pneumatics.cpp) for opening/closing bin elevator arms (unused)
++ [Pneumatics](Subsystems/Pneumatics.cpp) for opening/closing container elevator arms (unused)
 
 #### Sensors
 + [Ultrasonic](Subsystems/Collector.cpp#L9) to check if a tote is in the robot (unused)
@@ -40,12 +40,12 @@
 + Button 7 - Check robot
 
 #### Right Joystick (USB 1)
-+ Button 3 - Lowers bin elevator
++ Button 3 - Lowers container elevator
 + Button 4 - Lowers main elevator
-+ Button 5 - Raises bin elevator
++ Button 5 - Raises container elevator
 + Button 6 - Raises main elevator
-+ Button 7 - Opens bin arms (unused)
++ Button 7 - Opens container arms (unused)
-+ Button 8 - Closes bin arms (unused)
++ Button 8 - Closes container arms (unused)
 + Button 12 - Cancel raising and lowering for both elevators
 
 ### Dashboard
@@ -56,10 +56,10 @@
 + Three totes - Collect a third tote if using Auto Sequence 4 or 5 (default: false)
 + Auto Zone Distance - Amount of time in seconds to drive to the auto zone (default: 2.1)
 + Auto Tote Distance - Amount of time in seconds to drive to a second or third tote if using Auto Sequence 4, 5, or 7 (default: 0.5)
-+ Auto Bin Distance - Amount of time in seconds to drive to a bin if using Auto Sequence 6 or 7 (default: 0.5)
++ Auto Container Distance - Amount of time in seconds to drive to a container if using Auto Sequence 6 or 7 (default: 0.5)
 + TurnAmount - Amount of time in seconds to turn the robot (default: 1.8)
-+ Bin Elevator Bottom - Status of the bottom bin elevator sensor (unused)
++ Container Elevator Bottom - Status of the bottom container elevator sensor (unused)
-+ Bin Elevator Top - Status of the top bin elevator sensor (unused)
++ Container Elevator Top - Status of the top container elevator sensor (unused)
 + Elevator Bottom - Status of the bottom elevator sensor
 + Elevator Top - Status of the top elevator sensor
 + DriveSpeedReductionThresh - Maximum y value of the joystick when driving
@@ -67,9 +67,9 @@
 
 #### Autonomous
 1. Drive to auto zone, turn
-2. Lower BinElevator, collect bin, turn, drive to AutoZone, turn
+2. Lower ContainerElevator, collect container, turn, drive to AutoZone, turn
-3. Raise BinElevator, turn, drive to AutoZone, turn
+3. Raise ContainerElevator, turn, drive to AutoZone, turn
 4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn
-5. Same as auto 4, but navigate around bins (not implemented)
+5. Same as auto 4, but navigate around containers (not implemented)
-6. Collect 1 bin then 1 tote (not implemented)
+6. Collect 1 container then 1 tote (not implemented)
-7. Collect 3 totes, collect bin, drive to AutoZone (not implemented)
+7. Collect 3 totes, collect container, drive to AutoZone (not implemented)

RobotMap.h

@@ -13,15 +13,15 @@
 #define ELEVATOR_ENCODERA 4
 #define ELEVATOR_ENCODERB 9
 
-// BinElevator
+// ContainerElevator
-#define BINELEVATOR_CAN 10
+#define CONTAINER_ELEVATOR_CAN 10
-#define BINELEVATOR_BOTTOM_DIO 6
+#define CONTAINER_ELEVATOR_BOTTOM_DIO 6
-#define BINELEVATOR_COLELCT_BIN_DIO 7
+#define CONTAINER_ELEVATOR_COLELCT_CONTAINER__DIO 7
-#define BINELEVATOR_TOP_DIO 12
+#define CONTAINER_ELEVATOR_TOP_DIO 12
-#define BINELEVATOR_ENCODERA 10
+#define CONTAINER_ELEVATOR_ENCODERA 10
-#define BINELEVATOR_ENCODERB 11
+#define CONTAINER_ELEVATOR_ENCODERB 11
-#define BINELEVATOR_SOLDENOID_ONE   6
+#define CONTAINER_ELEVATOR_SOLDENOID_ONE   6
-#define BINELEVATOR_SOLDENOID_TWO   7
+#define CONTAINER_ELEVATOR_SOLDENOID_TWO   7
 
 // Drivetrain
 #define DRIVE_FRONT_LEFT_CAN 8

Subsystems/BinElevator.cpp

@@ -1,28 +0,0 @@
-#include "BinElevator.h"
-#include "../RobotMap.h"
-BinElevator::BinElevator(){
-  motor=new CANTalon(BINELEVATOR_CAN);
-  elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
-  elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
-  elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
-}
-void BinElevator::InitDefaultCommand(){
-}
-void BinElevator::Run(double power){
-  motor->Set(power);
-}
-void BinElevator::ResetEncoder(){
-  elevatorEncoder->Reset();
-}
-double BinElevator::GetHeight(){
-  return elevatorEncoder->Get();
-}
-bool BinElevator::GetElevatorBottom(){
-  SmartDashboard::PutBoolean("Bin Elevator Bottom", elevatorBottom->Get());
-  return elevatorBottom->Get();
-}
-bool BinElevator::GetElevatorTop(){
-  SmartDashboard::PutBoolean("Bin Elevator Top", elevatorTop->Get());
-  return elevatorTop->Get();
-}
-// vim: ts=2:sw=2:et

Subsystems/ContainerElevator.cpp

@@ -0,0 +1,28 @@
+#include "ContainerElevator.h"
+#include "../RobotMap.h"
+ContainerElevator::ContainerElevator(){
+  motor=new CANTalon(CONTAINER_ELEVATOR_CAN);
+  elevatorEncoder=new Encoder(CONTAINER_ELEVATOR_ENCODERA, CONTAINER_ELEVATOR_ENCODERB, false);
+  elevatorBottom=new DigitalInput(CONTAINER_ELEVATOR_BOTTOM_DIO);
+  elevatorTop=new DigitalInput(CONTAINER_ELEVATOR_TOP_DIO);
+}
+void ContainerElevator::InitDefaultCommand(){
+}
+void ContainerElevator::Run(double power){
+  motor->Set(power);
+}
+void ContainerElevator::ResetEncoder(){
+  elevatorEncoder->Reset();
+}
+double ContainerElevator::GetHeight(){
+  return elevatorEncoder->Get();
+}
+bool ContainerElevator::GetElevatorBottom(){
+  SmartDashboard::PutBoolean("Container Elevator Bottom", elevatorBottom->Get());
+  return elevatorBottom->Get();
+}
+bool ContainerElevator::GetElevatorTop(){
+  SmartDashboard::PutBoolean("Container Elevator Top", elevatorTop->Get());
+  return elevatorTop->Get();
+}
+// vim: ts=2:sw=2:et

Subsystems/ContainerElevator.h

@@ -1,30 +1,30 @@
-#ifndef BINELEVATOR_H
+#ifndef CONTAINER_ELEVATOR_H
-#define BINELEVATOR_H
+#define CONTAINER_ELEVATOR_H
 
 #include "WPILib.h"
 #include "Commands/PIDSubsystem.h"
 /**
- * @brief Controls the bin elevator
+ * @brief Controls the container elevator
  */
-class BinElevator{
+class ContainerElevator{
   private:
-    CANTalon *motor; //<! The bin elevator motor
+    CANTalon *motor; //<! The container elevator motor
-    Encoder *elevatorEncoder; //<! The bin elevator encoder (unused)
+    Encoder *elevatorEncoder; //<! The container elevator encoder (unused)
-    DigitalInput *elevatorBottom, //<! The bottom bin elevator sensor (unused)
+    DigitalInput *elevatorBottom, //<! The bottom container elevator sensor (unused)
-                 *elevatorTop; //<! The top bin elevator sensor (unused)
+                 *elevatorTop; //<! The top container elevator sensor (unused)
   public:
     /**
-     * @brief Constructs BinElevator
+     * @brief Constructs ContainerElevator
      */
-    BinElevator();
+    ContainerElevator();
     /**
      * @brief No action
      */
     void InitDefaultCommand();
     /**
-     * @brief Runs the bin elevator
+     * @brief Runs the container elevator
      *
-     * @param power The power to run the bin elevator
+     * @param power The power to run the container elevator
      * 
      * Ranges from -1.0 to 1.0
      */
@@ -34,9 +34,9 @@ class BinElevator{
      */
     void ResetEncoder();
     /**
-     * @brief Gets the height of the bin elevator
+     * @brief Gets the height of the container elevator
      *
-     * @return The height of the bin elevator
+     * @return The height of the container elevator
      */
     double GetHeight();
     /**

Subsystems/Elevator.h

@@ -25,7 +25,7 @@ class Elevator{
     /**
      * @brief Runs the elevator
      *
-     * @param power The power to run the bin elevator (-1.0 to 1.0)
+     * @param power The power to run the container elevator (-1.0 to 1.0)
      */
     void Run(double power);
     /**

Subsystems/Pneumatics.cpp

@@ -2,8 +2,8 @@
 #include "../RobotMap.h"
 
 Pneumatics::Pneumatics(): Subsystem("Pneumatics"){
-  solenoid1 = new Solenoid(BINELEVATOR_SOLDENOID_ONE);
+  solenoid1 = new Solenoid(CONTAINER_ELEVATOR_SOLDENOID_ONE);
-  solenoid2 = new Solenoid(BINELEVATOR_SOLDENOID_TWO);
+  solenoid2 = new Solenoid(CONTAINER_ELEVATOR_SOLDENOID_TWO);
 }
 void Pneumatics::InitDefaultCommand(){
 }

Subsystems/Pneumatics.h

@@ -5,7 +5,7 @@
 /**
  * @brief Pneumatics on the robot (unused)
 * 
-* For opening or closing the bin arms
+* For opening or closing the container arms
  */
 class Pneumatics: public Subsystem{
   private:

mainpage.dox

@@ -1,20 +1,20 @@
 /**
 * @mainpage Dent
 * 
-* The Hitchhikers Team 2015 robot, Dent. Features an elevator, bin elevator, and mecanum drive
+* The Hitchhikers Team 2015 robot, Dent. Features an elevator, container elevator, and mecanum drive
 * @section Subsystems
 *   -# @ref Drivetrain
-*   -# @ref BinElevator
+*   -# @ref ContainerElevator
 *   -# @ref Elevator
 *   -# @ref Collector
 *   -# @ref Pneumatics (unused)
 * @section Commands
 *   -# @ref AutoDrive
 *   -# @ref Turn
-*   -# @ref BinCloseArms
+*   -# @ref ContainerCloseArms
-*   -# @ref BinLower
+*   -# @ref ContainerLower
-*   -# @ref BinOpenArms
+*   -# @ref ContainerOpenArms
-*   -# @ref BinRaise
+*   -# @ref ContainerRaise
 *   -# @ref RollIn
 *   -# @ref RollOut
 *   -# @ref Drive
@@ -27,5 +27,4 @@
 *   -# @ref CheckDrive
 *   -# @ref CheckRobot
 * 
-* Note: Recycling containers are referred to bins throughout the project
 */