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https://github.com/team2059/Dent
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74 lines
1.6 KiB
C++
74 lines
1.6 KiB
C++
#ifndef ELEVATOR_H
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#define ELEVATOR_H
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#include "WPILib.h"
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/**
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* @brief The main elevator for lifting totes
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*/
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class Elevator {
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private:
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CANTalon *motor; //<! The elevator motor
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Encoder *elevatorEncoder; //<! The elevator encoder (unused)
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DigitalInput *elevatorBottom, //<! The bottom elevator sensor
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*elevatorMiddle, //<! The middle elevator sensor
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*elevatorTop; //<! The top elevator sensor
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bool useEncoder; //<! Use the elevator encoder (unused)
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public:
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/**
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* @brief Constructs Elevator
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*/
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Elevator();
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/**
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* @brief No action
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*/
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void InitDefaultCommand();
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/**
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* @brief Runs the elevator
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*
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* @param power The power to run the bin elevator (-1.0 to 1.0)
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*/
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void Run(double power);
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/**
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* @brief Sets the encoder value to 0 (unused)
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*/
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void ResetEncoder();
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/**
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* @brief Gets the height of the elevator
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*
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* @return The hight of the elevator
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*/
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double GetHeight();
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/**
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* @brief Gets the status of the top sensor
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*
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* @return True if the sensor is activated
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*/
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bool GetElevatorTop();
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/**
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* @brief Gets the status of the middle sensor
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*
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* @return True if the sensor is activated
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*/
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bool GetElevatorMiddle();
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/**
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* @brief Gets the status of the bottom sensor
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*
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* @return True if the sensor is activated
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*/
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bool GetElevatorBottom();
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/**
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* @brief Use the elevator encoder (unused)
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*
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* @param use State to use encoder
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*/
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void SetUseEncoder(bool use);
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/**
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* @brief Gets the state of useEncoder (unused)
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*
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* @return State of useEncoder
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*/
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bool GetUseEncoder();
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};
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#endif
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// vim: ts=2:sw=2:et
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