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46 lines
823 B
C
46 lines
823 B
C
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#ifndef Claw_H
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#define Claw_H
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#include "Commands/Subsystem.h"
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#include "WPILib.h"
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/**
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* The claw subsystem is a simple system with a motor for opening and closing.
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* If using stronger motors, you should probably use a sensor so that the
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* motors don't stall.
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*/
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class Claw: public Subsystem {
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private:
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SpeedController* motor;
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DigitalInput* contact;
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public:
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Claw();
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void InitDefaultCommand() {}
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/**
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* Set the claw motor to move in the open direction.
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*/
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void Open();
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/**
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* Set the claw motor to move in the close direction.
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*/
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void Close();
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/**
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* Stops the claw motor from moving.
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*/
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void Stop();
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/**
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* Return true when the robot is grabbing an object hard enough
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* to trigger the limit switch.
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*/
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bool IsGripping();
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void Log() {}
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};
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#endif
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