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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
33 lines
976 B
C++
33 lines
976 B
C++
#include "Collector.h"
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#include "../RobotMap.h"
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Collector::Collector(): Subsystem("Collector"){
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collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
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collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
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collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
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collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
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sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
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}
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void Collector::InitDefaultCommand(){
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}
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void Collector::MoveRollers(double power){
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MoveLeftRoller(power);
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MoveRightRoller(-power);
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MoveBottomRollers(power);
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printf("Roller power: %f\n", power);
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}
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void Collector::MoveLeftRoller(double power){
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collectorMotorLeft->Set(power);
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}
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void Collector::MoveRightRoller(double power){
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collectorMotorRight->Set(power);
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}
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void Collector::MoveBottomRollers(double power){
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collectorMotorBottom->Set(-power);
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collectorMotorRamp->Set(power);
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}
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double Collector::GetSonarDistance(){
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return sonarAnalog->GetAverageVoltage();
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}
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// vim: ts=2:sw=2:et
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