#include "BinElevator.h" #include "../RobotMap.h" BinElevator::BinElevator() { leftMotor = new CANTalon(BINELEVATOR_LEFT_CAN); rightMotor = new CANTalon(BINELEVATOR_RIGHT_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) { leftMotor->Set(power); rightMotor->Set(-power); } void BinElevator::ResetEncoder() { elevatorEncoder->Reset(); } double BinElevator::GetHeight() { return elevatorEncoder->Get(); } bool BinElevator::GetElevatorBottom() { return elevatorBottom->Get(); } bool BinElevator::GetElevatorTop() { return elevatorTop->Get(); } // vim: ts=2:sw=2:et