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Added elevator code

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This commit is contained in:
Austen Adler 2015-01-16 20:46:58 -05:00
parent 214318b5fb
commit 3dd19f8a53
2 changed files with 19 additions and 3 deletions
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14
src/Subsystems/Elevator.cpp
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@ -1,7 +1,17 @@
#include "Elevator.h"
#include "../RobotMap.h"
Elevator::Elevator() : Subsystem("Elevator") {
Elevator::Elevator() : PIDSubsystem("Elevator", kP_real, kI_real, 0.0){
pot=new AnalogPotentiometer(0);
leftMotor=new Talon(1);
rightMotor=new Talon(0);
SetAbsoluteTolerance(0.004);
}
void Elevator::InitDefaultCommand() {
}
float Elevator::GetPotValue(){
return pot->Get();
}
void Elevator::Run(double power){
leftMotor->Set(power);
rightMotor->Set(power);
}

8
src/Subsystems/Elevator.h
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@ -2,11 +2,17 @@
#define ELEVATOR_H
#include "WPILib.h"
class Elevator: public Subsystem
#include "Commands/PIDSubsystem.h"
class Elevator: public PIDSubsystem
{
private:
AnalogPotentiometer *pot;
Talon *leftMotor, *rightMotor;
static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
public:
Elevator();
void InitDefaultCommand();
float GetPotValue();
void Run(double);
};
#endif