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dent/Subsystems/Collector.cpp

25 lines
789 B
C++

#include "Collector.h"
#include "../RobotMap.h"
Collector::Collector() : Subsystem("Collector"){
collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
sonarDigital=new DigitalOutput(COLLECTOR_RIGHT_CAN);
}
void Collector::InitDefaultCommand(){
}
void Collector::MoveRollers(double a){
collectorMotorLeft->Set(a);
collectorMotorBottom->Set(a);
collectorMotorRamp->Set(a);
collectorMotorRight->Set(-a);
GetSonarDistance();
}
float Collector::GetSonarDistance(){
printf("Sonar Distance %f\n",sonarAnalog->GetAverageVoltage());
}
// vim: ts=2:sw=2:et