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https://github.com/team2059/Dent
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48 lines
1.1 KiB
C++
48 lines
1.1 KiB
C++
#ifndef COLLECTOR_H
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#define COLLECTOR_H
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#include "WPILib.h"
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/**
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* @brief Collects totes
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*
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* Uses four motors, two on the sides, one on the bottom, and one on the ramp to collect and eject totes
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*/
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class Collector: public Subsystem{
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private:
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CANTalon *collectorMotorLeft, //<! Left collector motor
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*collectorMotorBottom, //<! Bottom collector motor
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*collectorMotorRamp, //<! Ramp collector motor
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*collectorMotorRight; //<! Right collector motor
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/**
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* @brief Analog input for sonar (unused)
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*/
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AnalogInput *sonarAnalog;
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/**
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* @brief Digital output for sonar (unused)
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*/
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DigitalOutput *sonarDigital;
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public:
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/**
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* @brief Constructs Collector
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*/
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Collector();
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/**
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* @brief No action
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*/
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void InitDefaultCommand();
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/**
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* @brief Moves the collectors
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*
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* @param power The speed to run the collectors
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*/
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void MoveRollers(double power);
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/**
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* @brief Gets the distance of the sonar (unused)
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*
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* @return The sonar distance
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*/
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double GetSonarDistance();
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};
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#endif
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// vim: ts=2:sw=2:et
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