mirror of
https://github.com/team2059/Dent
synced 2024-12-28 21:02:30 -05:00
33 lines
986 B
C++
33 lines
986 B
C++
#include "Collector.h"
|
|
#include "../RobotMap.h"
|
|
|
|
Collector::Collector(): Subsystem("Collector"){
|
|
collectorMotorLeft = new CANTalon(COLLECTOR_LEFT_CAN);
|
|
collectorMotorBottom = new CANTalon(COLLECTOR_BOTTOM_CAN);
|
|
collectorMotorRamp = new CANTalon(COLLECTOR_RAMP_CAN);
|
|
collectorMotorRight = new CANTalon(COLLECTOR_RIGHT_CAN);
|
|
sonarAnalog = new AnalogInput(COLLECTOR_SONAR_ANALOG);
|
|
}
|
|
void Collector::InitDefaultCommand(){
|
|
}
|
|
void Collector::MoveRollers(double power){
|
|
MoveLeftRoller(power);
|
|
MoveRightRoller(-power);
|
|
MoveBottomRollers(power);
|
|
printf("Roller power: %f\n", power);
|
|
}
|
|
void Collector::MoveLeftRoller(double power){
|
|
collectorMotorLeft->Set(power);
|
|
}
|
|
void Collector::MoveRightRoller(double power){
|
|
collectorMotorRight->Set(power);
|
|
}
|
|
void Collector::MoveBottomRollers(double power){
|
|
collectorMotorBottom->Set(-power);
|
|
collectorMotorRamp->Set(power);
|
|
}
|
|
double Collector::GetSonarDistance(){
|
|
return sonarAnalog->GetAverageVoltage();
|
|
}
|
|
// vim: ts=2:sw=2:et
|