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dent/Subsystems/Elevator.cpp

30 lines
682 B
C++

#include "Elevator.h"
#include "../RobotMap.h"
Elevator::Elevator()/* : PIDSubsystem("Elevator", kP_real, kI_real, 0.0)*/{
pot=new AnalogPotentiometer(0);
leftMotor=new CANTalon(1);
rightMotor=new CANTalon(0);
elevatorEncoder=new Encoder(0,1,false);
offset=0;
height=0;
//SetAbsoluteTolerance(0.004);
}
void Elevator::InitDefaultCommand(){
}
float Elevator::GetPotValue(){
return pot->Get();
}
void Elevator::Run(double power){
leftMotor->Set(power);
rightMotor->Set(power);
}
void Elevator::SetOffset(double ht){
offset=ht;
}
void Elevator::ResetEncoder(){
elevatorEncoder->Reset();
}
double Elevator::GetHeight(){
return elevatorEncoder->Get()+offset;
}