mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Merged documentation from feature/doxygen
This commit is contained in:
commit
b5460f9b1e
3
.gitignore
vendored
3
.gitignore
vendored
@ -1,8 +1,9 @@
|
||||
*.o
|
||||
Debug
|
||||
bin
|
||||
wpilib
|
||||
CMakeCache.txt
|
||||
CMakeFiles
|
||||
cmake_install.cmake
|
||||
vision
|
||||
latex
|
||||
html
|
||||
|
@ -6,15 +6,45 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Drives the robot without a joystick
|
||||
*
|
||||
* Drives the robot given a timeout and joystick values
|
||||
*/
|
||||
class AutoDrive: public Command{
|
||||
private:
|
||||
double x, y;
|
||||
double x, //<! The x value of the simulated joystick value
|
||||
y; //<! The y value of the simulated joystick value
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs AutoDrive
|
||||
*
|
||||
* @param double Timeout in seconds
|
||||
* @param double Joystick x value (default: 0.0)
|
||||
* @param double Joystick y value (default: 0.75)
|
||||
*/
|
||||
AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75);
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Drives the robot
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True only if the timeout was reached
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the drivetrain to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
#endif
|
||||
|
@ -49,16 +49,16 @@ Autonomous::Autonomous(int seq){
|
||||
printf("Done");
|
||||
AddSequential(new CollectTote());
|
||||
if(SmartDashboard::GetBoolean("Two totes")){
|
||||
AddSequential(new Raise());
|
||||
AddSequential(new Raise(3.5));
|
||||
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
|
||||
AddSequential(new CollectTote());
|
||||
AddSequential(new Lower());
|
||||
AddSequential(new Raise());
|
||||
AddSequential(new Lower(3.0));
|
||||
AddSequential(new Raise(3.5));
|
||||
if(SmartDashboard::GetBoolean("Three totes")){
|
||||
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
|
||||
AddSequential(new CollectTote());
|
||||
AddSequential(new Lower());
|
||||
AddSequential(new Raise());
|
||||
AddSequential(new Lower(3.0));
|
||||
AddSequential(new Raise(3.5));
|
||||
}
|
||||
}
|
||||
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
|
||||
|
@ -6,8 +6,27 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief The autonomous period of the robot
|
||||
*
|
||||
* Contains three sequences selectable from the SmartDashboard
|
||||
* All sequences will wait for the SmartDashboard value "Auto Wait Time"
|
||||
*
|
||||
* Sequence 0: Used for testing only
|
||||
*
|
||||
* Sequence 1: Drives forward "Auto Zone Distance" at -0.8 power
|
||||
*
|
||||
* Sequence 2: Collects a tote, turns, then drives to the auto zone
|
||||
*
|
||||
* Sequence 3: Collects two or three totes then drives to auto zone
|
||||
*/
|
||||
class Autonomous: public CommandGroup{
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs Autonomous
|
||||
*
|
||||
* @param int The sequence to run
|
||||
*/
|
||||
Autonomous(int);
|
||||
};
|
||||
#endif
|
||||
|
@ -6,8 +6,16 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Collects one tote
|
||||
*
|
||||
* Rolls collector wheels in and drives forward in parallel
|
||||
*/
|
||||
class CollectTote: public CommandGroup{
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs CollectTote
|
||||
*/
|
||||
CollectTote();
|
||||
};
|
||||
#endif
|
||||
|
@ -3,7 +3,7 @@
|
||||
#include "AutoDrive.h"
|
||||
#include "../Collector/RollOut.h"
|
||||
ReleaseTote::ReleaseTote(){
|
||||
AddParallel(new RollOut());
|
||||
AddParallel(new RollOut(2.0));
|
||||
AddParallel(new AutoDrive(0.5, 0, 0.75));
|
||||
}
|
||||
// vim: ts=2:sw=2:et
|
||||
|
@ -6,8 +6,16 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Releases one tote
|
||||
*
|
||||
* Rolls collector wheels out and drives backwards in parallel
|
||||
*/
|
||||
class ReleaseTote: public CommandGroup{
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs ReleaseTote
|
||||
*/
|
||||
ReleaseTote();
|
||||
};
|
||||
#endif
|
||||
|
@ -6,15 +6,41 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Turns the robot
|
||||
*
|
||||
* Turns the robot until a timeout is reached
|
||||
*/
|
||||
class Turn: public Command{
|
||||
private:
|
||||
int degrees;
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs Turn
|
||||
*
|
||||
* @param double Timeout in seconds
|
||||
*/
|
||||
Turn(double);
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Turns the robot
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True only if the timeout was reached
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the drivetrain to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
#endif
|
||||
|
@ -4,13 +4,39 @@
|
||||
#include "Commands/Command.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Closes BinElevatorArms (NOT USED)
|
||||
*
|
||||
* Sets the solenoid to close the arms of the BinElevator
|
||||
*/
|
||||
class BinCloseArms: public Command{
|
||||
public:
|
||||
BinCloseArms(double timeout = 0.5);
|
||||
/**
|
||||
* @brief Constructs BinCloseArms
|
||||
*/
|
||||
BinCloseArms();
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Sets the solenoid to close the arms
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Returns true to prevent solenoid damage
|
||||
*
|
||||
* @return True
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Ends the command
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
|
||||
|
@ -1,7 +1,7 @@
|
||||
#include "BinLower.h"
|
||||
#include "../../DentRobot.h"
|
||||
#include "../../OI.h"
|
||||
BinLower::BinLower(double timeout) : Command("BinLower"){
|
||||
BinLower::BinLower(float timeout) : Command("BinLower"){
|
||||
SetTimeout(timeout);
|
||||
}
|
||||
void BinLower::Initialize(){
|
||||
|
@ -4,14 +4,40 @@
|
||||
#include "Commands/Command.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Lowers the bin elevator until a timeout is reached
|
||||
*/
|
||||
class BinLower: public Command{
|
||||
private:
|
||||
float timeout; //<! The timeout
|
||||
public:
|
||||
BinLower(double);
|
||||
/**
|
||||
* @brief Constructs BinLower
|
||||
*
|
||||
* @param float Timeout in seconds
|
||||
*/
|
||||
BinLower(float);
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Lowers the bin elevator at -1.0 power
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True only if the timeout was reached
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the bin elevator to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
#endif
|
||||
|
@ -7,12 +7,32 @@
|
||||
class BinOpenArms: public Command{
|
||||
public:
|
||||
BinOpenArms(double);
|
||||
/**
|
||||
* @brief Constructs BinOpenArms
|
||||
*/
|
||||
BinOpenArms();
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Sets the solenoid to open the arms
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Returns true to prevent solenoid damage
|
||||
*
|
||||
* @return True
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Ends the command
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
// vim: ts=2:sw=2:et
|
||||
|
@ -4,16 +4,42 @@
|
||||
#include "Commands/Command.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Raises the bin elevator until a timeout is reached
|
||||
*/
|
||||
class BinRaise: public Command{
|
||||
private:
|
||||
float timeout; //<! The timeout
|
||||
public:
|
||||
BinRaise(double);
|
||||
/**
|
||||
* @brief Constructs BinRaise
|
||||
*
|
||||
* @param float Timeout in seconds
|
||||
*/
|
||||
BinRaise(float);
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Raises the bin elevator at 1.0 power
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True only if the timeout was reached
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the bin elevator to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
// vim: ts=2:sw=2:et
|
||||
|
@ -6,18 +6,42 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Rolls collector motors in until a timeout is reached
|
||||
*/
|
||||
class RollIn: public Command{
|
||||
private:
|
||||
double rawSpeed;
|
||||
double rawSpeed; //<! Raw speed of the collector
|
||||
public:
|
||||
RollIn();
|
||||
/**
|
||||
* @brief Constructs RollIn
|
||||
*
|
||||
* @param double Timeout in seconds
|
||||
*/
|
||||
RollIn(double);
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Rolls the four collector motors in
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True only if the timeout was reached
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the collector to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
// vim: ts=2:sw=2:et
|
||||
|
@ -6,15 +6,38 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Rolls collector motors out until a timeout is reached
|
||||
*/
|
||||
class RollOut: public Command{
|
||||
public:
|
||||
RollOut(double timeout = 2.0);
|
||||
/**
|
||||
* @brief Constructs RollOut
|
||||
*/
|
||||
RollOut();
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Rolls the four collector motors out
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True only if the timeout was reached
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the collector to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
// vim: ts=2:sw=2:et
|
||||
|
@ -6,13 +6,38 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Drives the robot with a joystick
|
||||
*
|
||||
* Uses mechanum drive
|
||||
*/
|
||||
class Drive: public Command{
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs Drive
|
||||
*/
|
||||
Drive();
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Drives the robot with joysticks from OI
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return False
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Ends the command
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
#endif
|
||||
|
@ -4,13 +4,37 @@
|
||||
#include "Commands/Command.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Lowers the elevator until a timeout is reached
|
||||
*/
|
||||
class Lower: public Command{
|
||||
public:
|
||||
Lower(double timeout=3.0);
|
||||
/**
|
||||
* @brief Constructs Lower
|
||||
*/
|
||||
Lower();
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Lowers the elevator at -1.0 power
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True if the timeout was reached or if the bottom elevator sensor was triggered
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the elevator to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
#endif
|
||||
|
@ -4,15 +4,38 @@
|
||||
#include "Commands/Command.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief Raises the elevator until a timeout is reached
|
||||
*/
|
||||
class Raise: public Command{
|
||||
public:
|
||||
Raise(double timeout=3.5);
|
||||
/**
|
||||
* @brief Constructs Raise
|
||||
*/
|
||||
Raise();
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief Raises the elevator at 1.0 power
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return True if the timeout was reached or if the top elevator was triggered or if the middle elevator is triggered
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief Sets the elevator to stop
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
// vim: ts=2:sw=2:et
|
||||
|
@ -6,15 +6,40 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief TODO
|
||||
*/
|
||||
class CheckDrive: public CommandGroup{
|
||||
private:
|
||||
int motor;
|
||||
int motor; //<! TODO
|
||||
public:
|
||||
/**
|
||||
* @brief TODO
|
||||
*
|
||||
* @param int
|
||||
*/
|
||||
CheckDrive(int);
|
||||
/**
|
||||
* @brief Initializes the class
|
||||
*/
|
||||
void Initialize();
|
||||
/**
|
||||
* @brief TODO
|
||||
*/
|
||||
void Execute();
|
||||
/**
|
||||
* @brief Checks if the command is finished
|
||||
*
|
||||
* @return TODO
|
||||
*/
|
||||
bool IsFinished();
|
||||
/**
|
||||
* @brief TODO
|
||||
*/
|
||||
void End();
|
||||
/**
|
||||
* @brief Calls End()
|
||||
*/
|
||||
void Interrupted();
|
||||
};
|
||||
#endif
|
||||
|
@ -6,8 +6,14 @@
|
||||
#include "../../DentRobot.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* @brief TODO
|
||||
*/
|
||||
class CheckRobot: public CommandGroup{
|
||||
public:
|
||||
/**
|
||||
* @brief TODO
|
||||
*/
|
||||
CheckRobot();
|
||||
};
|
||||
#endif
|
||||
|
53
DentRobot.h
53
DentRobot.h
@ -8,24 +8,77 @@
|
||||
#include "Subsystems/Collector.h"
|
||||
#include "Subsystems/Pneumatics.h"
|
||||
#include "Commands/Autonomous/Autonomous.h"
|
||||
/**
|
||||
* @brief The Hitchhikers 2015 robot, Dent
|
||||
*
|
||||
* Features a 4-motor collector, 4-motor mecanum drivetrain, two one-motor elevators
|
||||
*/
|
||||
class DentRobot: public IterativeRobot {
|
||||
private:
|
||||
/**
|
||||
* @brief The default driving command
|
||||
*/
|
||||
Command *driveCommand = NULL;
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs DentRobot
|
||||
*/
|
||||
DentRobot();
|
||||
/**
|
||||
* @brief The 2-joystick OI
|
||||
*/
|
||||
static OI* oi;
|
||||
/**
|
||||
* @brief The 4-motor Collctor
|
||||
*/
|
||||
static Collector* collector;
|
||||
/**
|
||||
* @brief The 4-motor mechanum Drivetrain
|
||||
*/
|
||||
static Drivetrain* drivetrain;
|
||||
/**
|
||||
* @brief The main one-motor Elevator for lifting totes
|
||||
*/
|
||||
static Elevator* elevator;
|
||||
/**
|
||||
* @brief The back one-motor Elevator for lifting totes or bins
|
||||
*/
|
||||
static BinElevator* binElevator;
|
||||
/**
|
||||
* @brief The Pneumatics system (UNUSED)
|
||||
*/
|
||||
static Pneumatics* pneumatics;
|
||||
/**
|
||||
* @brief The Autonomous command
|
||||
*/
|
||||
static CommandGroup* aut;
|
||||
/**
|
||||
* @brief Initializes the robot
|
||||
*/
|
||||
void RobotInit();
|
||||
/**
|
||||
* @brief Periodically run when disabled
|
||||
*/
|
||||
void DisabledPeriodic();
|
||||
/**
|
||||
* @brief Initializes the autonomous period
|
||||
*/
|
||||
void AutonomousInit();
|
||||
/**
|
||||
* @brief Periodically run when enabled in autonomous
|
||||
*/
|
||||
void AutonomousPeriodic();
|
||||
/**
|
||||
* @brief Initializes the teleop period
|
||||
*/
|
||||
void TeleopInit();
|
||||
/**
|
||||
* @brief Periodically run when enabled in autonomous
|
||||
*/
|
||||
void TeleopPeriodic();
|
||||
/**
|
||||
* @brief Periodically run when enabled in test mode
|
||||
*/
|
||||
void TestPeriodic();
|
||||
};
|
||||
#endif
|
||||
|
6
OI.cpp
6
OI.cpp
@ -18,10 +18,10 @@ OI::OI() {
|
||||
JoystickButton *left1=new JoystickButton(leftStick, 1);
|
||||
JoystickButton *left2=new JoystickButton(leftStick, 2);
|
||||
left1->WhileHeld(new RollIn(GetLeftThrottle()));
|
||||
left2->WhileHeld(new RollOut());
|
||||
left2->WhileHeld(new RollOut(2.0));
|
||||
// Elevator
|
||||
raise=new Raise();
|
||||
lower=new Lower();
|
||||
raise=new Raise(3.5);
|
||||
lower=new Lower(3.0);
|
||||
JoystickButton *right4=new JoystickButton(rightStick, 4);
|
||||
JoystickButton *right6=new JoystickButton(rightStick, 6);
|
||||
right4->WhenPressed(lower);
|
||||
|
31
OI.h
31
OI.h
@ -4,16 +4,45 @@
|
||||
#include "WPILib.h"
|
||||
#include "Commands/Command.h"
|
||||
|
||||
/**
|
||||
* @brief Controls the robot with joysticks
|
||||
*/
|
||||
class OI
|
||||
{
|
||||
private:
|
||||
Joystick *leftStick, *rightStick;
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs OI
|
||||
*/
|
||||
OI();
|
||||
Command *raise, *lower, *binLower, *binRaise;
|
||||
Command *raise, //!< Raise command
|
||||
*lower, //!< Lower command
|
||||
*binLower, //!< BinLower command
|
||||
*binRaise; //!< BinRaise command
|
||||
/**
|
||||
* @brief Returns the right joystick
|
||||
*
|
||||
* @return The right joystick
|
||||
*/
|
||||
Joystick* GetRightStick();
|
||||
/**
|
||||
* @brief Returns the left joystick
|
||||
*
|
||||
* @return The left joystick
|
||||
*/
|
||||
Joystick* GetLeftStick();
|
||||
/**
|
||||
* @brief Returns the left joystick throttle
|
||||
*
|
||||
* @return The left joystick throttle
|
||||
*/
|
||||
double GetLeftThrottle();
|
||||
/**
|
||||
* @brief Returns the right joystick throttle
|
||||
*
|
||||
* @return The right joystick throttle
|
||||
*/
|
||||
double GetRightThrottle();
|
||||
};
|
||||
#endif
|
||||
|
@ -2,16 +2,46 @@
|
||||
#define COLLECTOR_H
|
||||
|
||||
#include "WPILib.h"
|
||||
/**
|
||||
* @brief Collects totes
|
||||
*
|
||||
* Uses four motors, two on the sides, one on the bottom, and one on the ramp to collect and eject totes
|
||||
*/
|
||||
class Collector: public Subsystem
|
||||
{
|
||||
private:
|
||||
CANTalon *collectorMotorLeft, *collectorMotorBottom, *collectorMotorRamp, *collectorMotorRight;
|
||||
CANTalon *collectorMotorLeft, //<! Left collector motor
|
||||
*collectorMotorBottom, //<! Bottom collctor motor
|
||||
*collectorMotorRamp, //<! Ramp collctor motor
|
||||
*collectorMotorRight; //<! Right collector motor
|
||||
/**
|
||||
* @brief Analog input for sonar (UNUSED)
|
||||
*/
|
||||
AnalogInput *sonarAnalog;
|
||||
/**
|
||||
* @brief Digital output for sonar (UNUSED)
|
||||
*/
|
||||
DigitalOutput *sonarDigital;
|
||||
public:
|
||||
/**
|
||||
* @brief Constructs Collector
|
||||
*/
|
||||
Collector();
|
||||
/**
|
||||
* @brief No action
|
||||
*/
|
||||
void InitDefaultCommand();
|
||||
/**
|
||||
* @brief Moves the collectors
|
||||
*
|
||||
* @param double The speed to run the collectors
|
||||
*/
|
||||
void MoveRollers(double);
|
||||
/**
|
||||
* @brief Gets the distance of the sonar (UNUSED)
|
||||
*
|
||||
* @return The sonar distance
|
||||
*/
|
||||
double GetSonarDistance();
|
||||
};
|
||||
#endif
|
||||
|
Loading…
Reference in New Issue
Block a user