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Continued development of elevator (not working)

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This commit is contained in:
Austen Adler 2015-01-31 14:30:09 -05:00
parent 814ddb1579
commit 760a30a8a2
2 changed files with 10 additions and 1 deletions
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9
Commands/Calibrate.cpp
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@ -1,14 +1,21 @@
#include "Calibrate.h" #include "Calibrate.h"
#include "../DentRobot.h" #include "../DentRobot.h"
// Lowers elevator until it hits the limit switch then sets the height of the elevator to the height of the limit switches
Calibrate::Calibrate() : Command("Calibrate"){ Calibrate::Calibrate() : Command("Calibrate"){
} }
void Calibrate::Initialize(){ void Calibrate::Initialize(){
} }
void Calibrate::Execute(){ void Calibrate::Execute(){
// Lower collector until End()
DentRobot::elevator->Run(-0.4f); DentRobot::elevator->Run(-0.4f);
} }
bool Calibrate::IsFinished(){ bool Calibrate::IsFinished(){
return DentRobot::elevator->GetPotValue()>=0.1f; if(DentRobot::DIO->Get()){
// 0.99 is a placeholder for the height of the limit switches
DentRobot::elevator->SetHeight(0.99);
return true;
}
return false;
} }
void Calibrate::End(){ void Calibrate::End(){
DentRobot::elevator->Run(0.0f); DentRobot::elevator->Run(0.0f);

2
Subsystems/Elevator.cpp
View File

@ -13,6 +13,8 @@ float Elevator::GetPotValue(){
return pot->Get(); return pot->Get();
} }
void Elevator::Run(double power){ void Elevator::Run(double power){
// Height supposed to be the location of the elevator
//height+=power;
leftMotor->Set(power); leftMotor->Set(power);
rightMotor->Set(power); rightMotor->Set(power);
} }