mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
48 lines
1.1 KiB
C++
48 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:
|
|
Victor *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
|
|
// vim: ts=2:sw=2:et
|