#include "Collector.h" #include "../RobotMap.h" Collector::Collector(): Subsystem("Collector") { collectorMotorLeft = new CANTalon(COLLECTOR_LEFT_CAN); collectorMotorBottom = new CANTalon(COLLECTOR_BOTTOM_CAN); collectorMotorRamp = new CANTalon(COLLECTOR_RAMP_CAN); collectorMotorRight = new CANTalon(COLLECTOR_RIGHT_CAN); sonarAnalog = new AnalogInput(COLLECTOR_SONAR_ANALOG); } void Collector::InitDefaultCommand() { } void Collector::MoveRollers(double power) { MoveLeftRoller(power); MoveRightRoller(-power); MoveBottomRollers(power); printf("Roller power: %f\n", power); } void Collector::MoveLeftRoller(double power) { collectorMotorLeft->Set(power); } void Collector::MoveRightRoller(double power) { collectorMotorRight->Set(power); } void Collector::MoveBottomRollers(double power) { collectorMotorBottom->Set(-power); collectorMotorRamp->Set(power); } double Collector::GetSonarDistance() { return sonarAnalog->GetAverageVoltage(); } // vim: ts=2:sw=2:et