mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
24 lines
725 B
C++
24 lines
725 B
C++
#include "Collector.h"
|
|
#include "../RobotMap.h"
|
|
|
|
Collector::Collector(): Subsystem("Collector"){
|
|
collectorMotorLeft=new Victor(COLLECTOR_LEFT);
|
|
collectorMotorBottom=new Victor(COLLECTOR_BOTTOM);
|
|
collectorMotorRamp=new Victor(COLLECTOR_RAMP);
|
|
collectorMotorRight=new Victor(COLLECTOR_RIGHT);
|
|
sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
|
|
}
|
|
void Collector::InitDefaultCommand(){
|
|
}
|
|
void Collector::MoveRollers(double power){
|
|
collectorMotorLeft->Set(power);
|
|
collectorMotorBottom->Set(-power);
|
|
collectorMotorRamp->Set(power);
|
|
collectorMotorRight->Set(-power);
|
|
printf("Roller power: %f\n", power);
|
|
}
|
|
double Collector::GetSonarDistance(){
|
|
return sonarAnalog->GetAverageVoltage();
|
|
}
|
|
// vim: ts=2:sw=2:et
|