mirror of
https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
29 lines
621 B
C++
29 lines
621 B
C++
#include <WPILib.h>
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#include "../Definitions.h"
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class ZaphodShooter
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{
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private:
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Jaguar *shooterLeft1, *shooterLeft2, *shooterRight1, *shooterRight2;
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AnalogChannel *shooterAngle;
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public:
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ZaphodShooter();
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enum
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{
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IDLE_PRESHOT,
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FIRING,
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LOWERING,
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IDLE_POSTSHOT
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}e_ShooterState;
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bool isShooting;
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float shootingPower;
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void startShootingSequence(float);
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void shootForAngle(float, float);
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void shootRaw(float);
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void lower(float);
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void stopShooter();
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void updateShooterPosition();
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float floatToPWM(float input);
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float getAngle();
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};
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