mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
86 lines
1.9 KiB
C++
86 lines
1.9 KiB
C++
#ifndef DENTROBOT_H
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#define DENTROBOT_H
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#include "WPILib.h"
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#include "OI.h"
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#include "Subsystems/Elevator.h"
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#include "Subsystems/BinElevator.h"
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#include "Subsystems/Drivetrain.h"
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#include "Subsystems/Collector.h"
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#include "Subsystems/Pneumatics.h"
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#include "Commands/Autonomous/Autonomous.h"
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/**
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* @brief The Hitchhikers 2015 robot, Dent
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*
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* Features a 4-motor collector, 4-motor mecanum drivetrain, two one-motor elevators
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*/
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class DentRobot: public IterativeRobot{
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private:
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/**
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* @brief The default driving command
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*/
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Command *driveCommand = NULL;
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public:
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/**
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* @brief Constructs DentRobot
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*/
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DentRobot();
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/**
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* @brief The 2-joystick OI
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*/
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static OI* oi;
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/**
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* @brief The 4-motor Collector
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*/
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static Collector* collector;
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/**
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* @brief The 4-motor mecanum Drivetrain
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*/
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static Drivetrain* drivetrain;
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/**
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* @brief The main one-motor Elevator for lifting totes
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*/
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static Elevator* elevator;
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/**
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* @brief The back one-motor Elevator for lifting totes or bins
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*/
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static BinElevator* binElevator;
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/**
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* @brief The Pneumatics system (unused)
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*/
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static Pneumatics* pneumatics;
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/**
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* @brief The Autonomous command
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*/
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static CommandGroup* aut;
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/**
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* @brief Initializes the robot
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*/
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void RobotInit();
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/**
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* @brief Periodically run when disabled
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*/
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void DisabledPeriodic();
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/**
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* @brief Initializes the autonomous period
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*/
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void AutonomousInit();
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/**
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* @brief Periodically run when enabled in autonomous
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*/
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void AutonomousPeriodic();
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/**
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* @brief Initializes the teleop period
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*/
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void TeleopInit();
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/**
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* @brief Periodically run when enabled in autonomous
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*/
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void TeleopPeriodic();
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/**
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* @brief Periodically run when enabled in test mode
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*/
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void TestPeriodic();
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};
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#endif
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// vim: ts=2:sw=2:et
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