mirror of
https://github.com/team2059/Zaphod
synced 2024-12-28 20:12:29 -05:00
42 lines
669 B
C++
42 lines
669 B
C++
#include "Collector.h"
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ZaphodCollector::ZaphodCollector()
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{
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collectorMotor = new Jaguar(COLLECTOR_SIDECAR, COLLECTOR_MOTOR);
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}
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void ZaphodCollector::updateCollector(bool shooting, float angle)
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{
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//Needed for the auto running of collector when shooting
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if(shooting)
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{
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if(angle <= 40)
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{
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collectBall();
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}
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}
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//
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if(e_CollectorState == COLLECTING)
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{
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collectBall();
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}
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if(e_CollectorState == RELEASE)
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{
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releaseBall();
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}
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if(e_CollectorState == STOP)
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{
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collectorMotor->Set(0);
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}
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}
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void ZaphodCollector::collectBall()
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{
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collectorMotor->Set(1);
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}
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void ZaphodCollector::releaseBall()
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{
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collectorMotor->Set(255);
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}
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