Added collector code (untested)

src/HHRobot.cpp

@@ -3,6 +3,7 @@
 HHRobot::HHRobot():
   hhdrive(new RobotDrive(2,0,3,1)),
   gyro(new Gyro(1)),
+  collector(new DentCollector(4, 5, 6, 7)),
   joystick1(new Extreme3dPro(0)){
     hhdrive->SetExpiration(0.1);
     hhdrive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
@@ -26,6 +27,17 @@ void HHRobot::Handler(){
   }else{
     hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
   }
+  if(joystick1->GetJoystickButton(11)){
+    collector->Collect(255);
+  }else if(joystick1->GetJoystickButton(12)){
+    collector->Collect(1);
+  }else if(joystick1->GetJoystickButton(9)){
+    collector->Raise(255);
+  }else if(joystick1->GetJoystickButton(10)){
+    collector->Raise(1);
+  }else{
+    collector->Rest();
+  }
   Wait(0.005);
   // hhdrive->MecanumDrive_Cartesian(joystick1->GetJoystickAxis("z"), joystick1->GetJoystickAxis("y"), joystick1->GetJoystickAxis("x"));
 }

src/HHRobot.h

@@ -1,12 +1,14 @@
-#ifndef __ZAPHOD_ROBOT_H__
+#ifndef __ROBOT_H__
-#define __ZAPHOD_ROBOT_H__
+#define __ROBOT_H__
 #include <WPILib.h>
 #include "HHBase.h"
+#include "classes/Collector.h"
 #include "hhlib/input/controller/Joystick.h"
 class HHRobot{
   private:
     RobotDrive *hhdrive;
     Gyro *gyro;
+    DentCollector *collector;
     Extreme3dPro *joystick1;
   public:
     HHRobot();

src/classes/Collector.cpp

@@ -0,0 +1,22 @@
+#include "Collector.h"
+DentCollector::DentCollector(int fl, int fr, int rl, int rr){
+  frontLeft = new Talon(fl);
+  frontRight = new Talon(fr);
+  raiserLeft = new Talon(rl);
+  raiserRight = new Talon(rr);
+}
+void DentCollector::Collect(int power){
+  frontLeft->Set(power);
+  frontRight->Set(power);
+}
+void DentCollector::Raise(int power){
+  raiserLeft->Set(power);
+  raiserRight->Set(power);
+}
+void DentCollector::Rest(){
+  raiserLeft->Set(0);
+  raiserRight->Set(0);
+  frontLeft->Set(0);
+  frontRight->Set(0);
+}
+// vim: ts=2:sw=2:et

src/classes/Collector.h

@@ -0,0 +1,15 @@
+#ifndef __COLLECTOR_H__
+#include <WPILib.h>
+#define __COLLECTOR_H__
+//#include ""
+class DentCollector{
+  private:
+    Talon *frontLeft, *frontRight, *raiserLeft, *raiserRight;
+  public:
+    DentCollector(int, int, int, int);
+    void Collect(int);
+    void Raise(int);
+    void Rest();
+};
+#endif
+// vim: ts=2:sw=2:et