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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
32 lines
985 B
C++
32 lines
985 B
C++
#include "Pneumatics.h"
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#include "../RobotMap.h"
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Pneumatics::Pneumatics(): Subsystem("Pneumatics") {
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compressor = new Compressor(COMPRESSOR_PCM_CAN);
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solenoid1 = new Solenoid(COMPRESSOR_PCM_CAN, BINELEVATOR_SOLENOID_ONE);
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solenoid2 = new Solenoid(COMPRESSOR_PCM_CAN, BINELEVATOR_SOLENOID_TWO);
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solenoid3 = new Solenoid(COMPRESSOR_PCM_CAN, BINELEVATOR_SOLENOID_THREE);
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solenoid4 = new Solenoid(COMPRESSOR_PCM_CAN, BINELEVATOR_SOLENOID_FOUR);
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armState = false;
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}
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void Pneumatics::InitDefaultCommand() {}
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void Pneumatics::SetArmsOpen(bool state) {
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solenoid1->Set(state);
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solenoid2->Set(!state);
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armState=state;
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}
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void Pneumatics::SetElevatorArmOpen(bool state){
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solenoid3->Set(state);
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solenoid4->Set(!state);
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}
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void Pneumatics::SetCompressorEnabled(bool state) {
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compressor->SetClosedLoopControl(state);
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}
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bool Pneumatics::GetArmsOpen() {
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return armState;
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}
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bool Pneumatics::GetCompressorEnabled() {
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return compressor->Enabled();
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}
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// vim: ts=2:sw=2:et
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