mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
#include "Elevator.h"
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#include "../RobotMap.h"
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Elevator::Elevator(){
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motor=new CANTalon(ELEVATOR_CAN);
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elevatorEncoder=new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
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elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
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elevatorMiddle=new DigitalInput(ELEVATOR_MIDDLE_DIO);
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elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
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// Checks if the elevator is drifting
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useEncoder=false;
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}
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void Elevator::InitDefaultCommand(){
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}
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void Elevator::Run(double power){
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// If we're not telling it to stop
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if(power != 0.0){
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SetUseEncoder(false);
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}
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motor->Set(power);
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}
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void Elevator::ResetEncoder(){
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elevatorEncoder->Reset();
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}
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double Elevator::GetHeight(){
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return elevatorEncoder->Get();
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}
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bool Elevator::GetElevatorBottom(){
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SmartDashboard::PutBoolean("Elevator Bottom", !elevatorBottom->Get());
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return elevatorBottom->Get();
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}
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bool Elevator::GetElevatorMiddle(){
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return elevatorMiddle->Get();
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}
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bool Elevator::GetElevatorTop(){
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SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get());
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return elevatorTop->Get();
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}
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void Elevator::SetUseEncoder(bool param){
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useEncoder=param;
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}
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bool Elevator::GetUseEncoder(){
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return useEncoder;
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}
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// vim: ts=2:sw=2:et
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