dent/Subsystems/Collector.h

#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:
  CANTalon *collectorMotorLeft,   //<! Left collector motor
           *collectorMotorBottom, //<! Bottom collector motor
           *collectorMotorRamp,   //<! Ramp collector 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 power The power to run the collectors
   */
  void MoveRollers(double power);
  /**
   * @brief Moves the left roller
   *
   * @param power The power to run the left roller
   */
  void MoveLeftRoller(double power);
  /**
   * @brief Moves the right roller
   *
   * @param power The power to run the right roller
   */
  void MoveRightRoller(double power);
  /**
   * @brief Moves the bottom rollers
   *
   * @param power The power to run the bottom rollers
   */
  void MoveBottomRollers(double power);
  /**
   * @brief Gets the distance of the sonar (unused)
   *
   * @return The sonar distance
   */
  double GetSonarDistance();
};
#endif
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