mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
57 lines
1.3 KiB
C++
57 lines
1.3 KiB
C++
#ifndef BINELEVATOR_H
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#define BINELEVATOR_H
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#include "WPILib.h"
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#include "Commands/PIDSubsystem.h"
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/**
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* @brief Controls the bin elevator
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*/
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class BinElevator{
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private:
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CANTalon *motor; //<! The bin elevator motor
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Encoder *elevatorEncoder; //<! The bin elevator encoder (unused)
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DigitalInput *elevatorBottom, //<! The bottom bin elevator sensor (unused)
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*elevatorTop; //<! The top bin elevator sensor (unused)
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public:
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/**
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* @brief Constructs BinElevator
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*/
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BinElevator();
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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 bin elevator
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*
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* @param power The power to run the bin elevator
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*
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* Ranges from -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 bin elevator
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*
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* @return The height of the bin 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 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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#endif
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// vim: ts=2:sw=2:et
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