#include "BinElevator.h"
#include "../RobotMap.h"
BinElevator::BinElevator(){
  motor=new CANTalon(BINELEVATOR_CAN);
  elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA,BINELEVATOR_ENCODERB,false);
  elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
  elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
}
void BinElevator::InitDefaultCommand(){
}
void BinElevator::Run(double power){
  motor->Set(power);
}
void BinElevator::ResetEncoder(){
  elevatorEncoder->Reset();
}
double BinElevator::GetHeight(){
  return elevatorEncoder->Get();
}
bool BinElevator::GetElevatorBottom(){
  SmartDashboard::PutBoolean("Bin Elevator Bottom", elevatorBottom->Get());
  return elevatorBottom->Get();
}
bool BinElevator::GetElevatorTop(){
  SmartDashboard::PutBoolean("Bin Elevator Top", elevatorTop->Get());
  return elevatorTop->Get();
}
// vim: ts=2:sw=2:et