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dent/Subsystems/Collector.h

49 lines
1.1 KiB
C++

#ifndef COLLECTOR_H
#define COLLECTOR_H
#include "WPILib.h"
/**
* @brief Collects totes
*
* Uses four motors, two on the sides, one on the bottom, and one on the ramp to collect and eject totes
*/
class Collector: public Subsystem
{
private:
CANTalon *collectorMotorLeft, //<! Left collector motor
*collectorMotorBottom, //<! Bottom collctor motor
*collectorMotorRamp, //<! Ramp collctor motor
*collectorMotorRight; //<! Right collector motor
/**
* @brief Analog input for sonar (unused)
*/
AnalogInput *sonarAnalog;
/**
* @brief Digital output for sonar (unused)
*/
DigitalOutput *sonarDigital;
public:
/**
* @brief Constructs Collector
*/
Collector();
/**
* @brief No action
*/
void InitDefaultCommand();
/**
* @brief Moves the collectors
*
* @param double The speed to run the collectors
*/
void MoveRollers(double);
/**
* @brief Gets the distance of the sonar (unused)
*
* @return The sonar distance
*/
double GetSonarDistance();
};
#endif
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