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https://github.com/team2059/Dent
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28 lines
674 B
C++
28 lines
674 B
C++
#ifndef ELEVATOR_H
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#define ELEVATOR_H
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#include "WPILib.h"
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#include "Commands/PIDSubsystem.h"
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class Elevator{
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private:
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CANTalon *motor;
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Encoder *elevatorEncoder;
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static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
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DigitalInput *elevatorBottom, *elevatorMiddle, *elevatorTop;
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bool useEncoder;
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public:
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Elevator();
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bool stoppedAtSensor;
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void InitDefaultCommand();
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void Run(double);
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void ResetEncoder();
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double GetHeight();
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bool GetElevatorTop();
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bool GetElevatorMiddle();
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bool GetElevatorBottom();
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void SetUseEncoder(bool);
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bool GetUseEncoder();
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};
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#endif
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// vim: ts=2:sw=2:et
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