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25 lines
703 B
C
25 lines
703 B
C
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc/DoubleSolenoid.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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#include "Constants.h"
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class Intake {
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public:
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void Deploy();
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void Retract();
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void Activate(double speed);
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bool IsDeployed() const;
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private:
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frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
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frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::CTREPCM,
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IntakeConstants::kPistonFwdChannel,
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IntakeConstants::kPistonRevChannel};
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};
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