mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
62 lines
1.1 KiB
C
62 lines
1.1 KiB
C
|
#ifndef Pivot_H
|
||
|
|
#define Pivot_H
|
||
|
|
|
||
|
|
#include "Commands/PIDSubsystem.h"
|
||
|
|
#include "WPILib.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* The Pivot subsystem contains the Van-door motor and the pot for PID control
|
||
|
|
* of angle of the pivot and claw.
|
||
|
|
*/
|
||
|
|
class Pivot: public PIDSubsystem
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
// Constants for some useful angles
|
||
|
|
static const double COLLECT = 105;
|
||
|
|
static const double LOW_GOAL = 90;
|
||
|
|
static const double SHOOT = 45;
|
||
|
|
static const double SHOOT_NEAR = 30;
|
||
|
|
|
||
|
|
private:
|
||
|
|
// Subsystem devices
|
||
|
|
DigitalInput* upperLimitSwitch;
|
||
|
|
DigitalInput* lowerLimitSwitch;
|
||
|
|
Potentiometer* pot;
|
||
|
|
SpeedController* motor;
|
||
|
|
|
||
|
|
public:
|
||
|
|
Pivot();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* No default command, if PID is enabled, the current setpoint will be maintained.
|
||
|
|
*/
|
||
|
|
void InitDefaultCommand() {}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return The angle read in by the potentiometer
|
||
|
|
*/
|
||
|
|
double ReturnPIDInput();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the motor speed based off of the PID output
|
||
|
|
*/
|
||
|
|
void UsePIDOutput(double output);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return If the pivot is at its upper limit.
|
||
|
|
*/
|
||
|
|
bool IsAtUpperLimit();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return If the pivot is at its lower limit.
|
||
|
|
*/
|
||
|
|
bool IsAtLowerLimit();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return The current angle of the pivot.
|
||
|
|
*/
|
||
|
|
double GetAngle();
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|