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dent/Subsystems/Elevator.h
2015-03-10 19:46:43 -04:00

74 lines
1.7 KiB
C++

#ifndef ELEVATOR_H
#define ELEVATOR_H
#include "WPILib.h"
/**
* @brief The main elevator for lifting totes
*/
class Elevator{
private:
CANTalon *motor; //<! The elevator motor
Encoder *elevatorEncoder; //<! The elevator encoder (unused)
DigitalInput *elevatorBottom, //<! The bottom elevator sensor
*elevatorMiddle, //<! The middle elevator sensor
*elevatorTop; //<! The top elevator sensor
bool useEncoder; //<! Use the elevator encoder (unused)
public:
/**
* @brief Constructs Elevator
*/
Elevator();
/**
* @brief No action
*/
void InitDefaultCommand();
/**
* @brief Runs the elevator
*
* @param double The power to run the bin elevator (-1.0 to 1.0)
*/
void Run(double);
/**
* @brief Sets the encoder value to 0 (unused)
*/
void ResetEncoder();
/**
* @brief Gets the height of the elevator
*
* @return The hight of the elevator
*/
double GetHeight();
/**
* @brief Gets the status of the top sensor
*
* @return True if the sensor is activated
*/
bool GetElevatorTop();
/**
* @brief Gets the status of the middle sensor
*
* @return True if the sensor is activated
*/
bool GetElevatorMiddle();
/**
* @brief Gets the status of the bottom sensor
*
* @return True if the sensor is activated
*/
bool GetElevatorBottom();
/**
* @brief Use the elevator encoder (unused)
*
* @param bool State to use encoder
*/
void SetUseEncoder(bool);
/**
* @brief Gets the state of useEncoder (unused)
*
* @return State of useEncoder
*/
bool GetUseEncoder();
};
#endif
// vim: ts=2:sw=2:et