Updated bin collector code to reflect electrical changes made to board.

Commands/BinCollector/BinIn.cpp

@@ -7,18 +7,18 @@ BinIn::BinIn(float timeout): Command("BinIn"){
 void BinIn::Initialize(){
 }
 void BinIn::Execute(){
-  DentRobot::binCollector->Set(0.75);
+  DentRobot::binCollector->MoveArms(0.75);
-  End();
 }
 bool BinIn::IsFinished(){
   if(IsTimedOut()){
-    printf("Robot stoped collecting bin.\n");
+    printf("Robot stopped collecting bin.\n");
     return true;
   }else{
     return false;
   }
 }
 void BinIn::End(){
+  DentRobot::binCollector->MoveArms(0.0);
 }
 void BinIn::Interrupted(){
   End();

Commands/BinCollector/BinOut.cpp

@@ -7,18 +7,18 @@ BinOut::BinOut(double timeout): Command("BinOut"){
 void BinOut::Initialize(){
 }
 void BinOut::Execute(){
-  DentRobot::binCollector->Set(0.1);
+  DentRobot::binCollector->MoveArms(-0.1);
-  End();
 }
 bool BinOut::IsFinished(){
   if(IsTimedOut()){
-    printf("Robot stoped ejecting bin.\n");
+    printf("Robot stopped ejecting bin.\n");
     return true;
   }else{
     return false;
   }
 }
 void BinOut::End(){
+  DentRobot::binCollector->MoveArms(0.0);
 }
 void BinOut::Interrupted(){
   End();

RobotMap.h

@@ -17,7 +17,6 @@
 #define BINELEVATOR_LEFT_CAN 13
 #define BINELEVATOR_RIGHT_CAN 14
 #define BINELEVATOR_BOTTOM_DIO 6
-#define BINELEVATOR_COLELCT_BIN_DIO 7
 #define BINELEVATOR_TOP_DIO 12
 #define BINELEVATOR_ENCODERA 10
 #define BINELEVATOR_ENCODERB 11
@@ -39,7 +38,8 @@
 #define COLLECTOR_SONAR_ANALOG 3
 
 // BinCollector
-#define BINCOLLECTOR 0
+#define BINCOLLECTOR_RIGHT_CAN 6
+#define BINCOLLECTOR_LEFT_CAN 10
 
 #endif
 // vim: ts=2:sw=2:et

Subsystems/BinCollector.cpp

@@ -2,15 +2,13 @@
 #include "../RobotMap.h"
 
 BinCollector::BinCollector(): Subsystem("BinCollector"){
-  binCollectorMotor = new Servo(BINCOLLECTOR);
+  leftBinCollectorMotor = new CANTalon(BINCOLLECTOR_LEFT_CAN);
+  rightBinCollectorMotor = new CANTalon(BINCOLLECTOR_RIGHT_CAN);
 }
 void BinCollector::InitDefaultCommand(){
 }
-void BinCollector::Set(double pos){
+void BinCollector::MoveArms(double speed){
-  binCollectorMotor->Set(pos);
+  leftBinCollectorMotor->Set(speed);
-  printf("BinCollector angle: %f\n", pos);
+  rightBinCollectorMotor->Set(-speed);
-}
-double BinCollector::Get(){
-  return binCollectorMotor->Get();
 }
 // vim: ts=2:sw=2:et

Subsystems/BinCollector.h

@@ -4,12 +4,13 @@
 #include "WPILib.h"
 /**
  * @brief Collects bins
- * 
+ *
  * Collects bins with a servo
  */
 class BinCollector: public Subsystem{
   private:
-    Servo *binCollectorMotor; //<! BinCollector motor
+    CANTalon *leftBinCollectorMotor, //<<! Left bin collector motor
+             *rightBinCollectorMotor; //<<! Right bin collector motor
   public:
     /**
      * @brief Constructs BinCollector
@@ -20,17 +21,11 @@ class BinCollector: public Subsystem{
      */
     void InitDefaultCommand();
     /**
-     * @brief Sets the servo angle
+     * @brief Moves bin collector arms at given speed
      *
-     * @param pos The angle of the servo (0.0 to 1.0)
+     * @param speed the speed to move the bin collector arms
      */
-    void Set(double pos);
+    void MoveArms(double speed);
-    /**
-     * @brief Gets the servo angle
-     *
-     * @return The servo angle (0.0 to 1.0)
-     */
-    double Get();
 };
 #endif
 // vim: ts=2:sw=2:et