mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
41 lines
852 B
C
41 lines
852 B
C
|
#ifndef Wrist_H
|
||
|
|
#define Wrist_H
|
||
|
|
|
||
|
|
#include "Commands/PIDSubsystem.h"
|
||
|
|
#include "WPILib.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* The wrist subsystem is like the elevator, but with a rotational joint instead
|
||
|
|
* of a linear joint.
|
||
|
|
*/
|
||
|
|
class Wrist : public PIDSubsystem {
|
||
|
|
private:
|
||
|
|
SpeedController* motor;
|
||
|
|
Potentiometer* pot; // TODO: Make Potentiometer
|
||
|
|
|
||
|
|
static const double kP_real = 1, kP_simulation = 0.05;
|
||
|
|
|
||
|
|
public:
|
||
|
|
Wrist();
|
||
|
|
void InitDefaultCommand() {}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* The log method puts interesting information to the SmartDashboard.
|
||
|
|
*/
|
||
|
|
void Log();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Use the potentiometer as the PID sensor. This method is automatically
|
||
|
|
* called by the subsystem.
|
||
|
|
*/
|
||
|
|
double ReturnPIDInput();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Use the motor as the PID output. This method is automatically called by
|
||
|
|
* the subsystem.
|
||
|
|
*/
|
||
|
|
void UsePIDOutput(double d);
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|