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https://github.com/team2059/Zaphod
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33 lines
888 B
C++
33 lines
888 B
C++
#ifndef __ZAPHOD_ROBOT_H__
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#define __ZAPHOD_ROBOT_H__
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#include <WPILib.h>
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#include "ZaphodBase.h"
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#include "Definitions.h"
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class JoystickController;
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class ZaphodShooter;
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class ZaphodCollector;
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class ZaphodCompressor;
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class ZaphodRobot
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{
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private:
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Jaguar *right1, *right2, *right3, *left1, *left2, *left3;
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DigitalOutput *frontSonarLeftD, *frontSonarRightD, *rearSonarLeftD, *rearSonarRightD;
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AnalogChannel *frontSonarLeftA, *frontSonarRightA, *rearSonarLeftA, *rearSonarRightA;
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JoystickController *ControlSystem;
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ZaphodShooter *shooter;
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ZaphodCollector *collector;
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ZaphodCompressor *compressorSystem;
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public:
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ZaphodRobot();
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float frontSonarLeftV, frontSonarRightV, rearSonarLeftV, rearSonarRightV;
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float getFrontSonar();
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float getRearSonar();
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bool checkJoystickValues();
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void driveRobot(float,float);
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void handler();
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};
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#endif
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