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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
28 lines
814 B
C++
28 lines
814 B
C++
#include "BinElevator.h"
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#include "../RobotMap.h"
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BinElevator::BinElevator() {
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leftMotor = new CANTalon(BINELEVATOR_LEFT_CAN);
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rightMotor = new CANTalon(BINELEVATOR_RIGHT_CAN);
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elevatorEncoder = new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
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elevatorBottom = new DigitalInput(BINELEVATOR_BOTTOM_DIO);
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elevatorTop = new DigitalInput(BINELEVATOR_TOP_DIO);
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}
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void BinElevator::InitDefaultCommand() {}
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void BinElevator::Run(double power) {
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leftMotor->Set(power);
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rightMotor->Set(-power);
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}
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void BinElevator::ResetEncoder() {
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elevatorEncoder->Reset();
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}
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double BinElevator::GetHeight() {
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return elevatorEncoder->Get();
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}
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bool BinElevator::GetElevatorBottom() {
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return elevatorBottom->Get();
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}
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bool BinElevator::GetElevatorTop() {
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return elevatorTop->Get();
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}
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// vim: ts=2:sw=2:et
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