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0abf6c9045
Also deprecate SpeedController in favor of motorcontrol.MotorController and SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup. The MotorController interface is derived from the SpeedController interface so that code such as SpeedController x = new VictorSP(1) continues to compile (just with a warning). SpeedControllerGroup and MotorControllerGroup are independent classes; both implement the MotorController interface.
72 lines
1.7 KiB
C++
72 lines
1.7 KiB
C++
// 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/AnalogPotentiometer.h>
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#include <frc/DigitalInput.h>
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#include <frc/commands/PIDSubsystem.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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/**
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* The Pivot subsystem contains the Van-door motor and the pot for PID control
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* of angle of the pivot and claw.
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*/
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class Pivot : public frc::PIDSubsystem {
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public:
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// Constants for some useful angles
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static constexpr double kCollect = 105;
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static constexpr double kLowGoal = 90;
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static constexpr double kShoot = 45;
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static constexpr double kShootNear = 30;
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Pivot();
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/**
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* No default command, if PID is enabled, the current setpoint will be
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* maintained.
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*/
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void InitDefaultCommand() override {}
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/**
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* @return The angle read in by the potentiometer
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*/
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double ReturnPIDInput() override;
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/**
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* Set the motor speed based off of the PID output
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*/
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void UsePIDOutput(double output) override;
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/**
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* @return If the pivot is at its upper limit.
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*/
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bool IsAtUpperLimit();
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/**
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* @return If the pivot is at its lower limit.
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*/
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bool IsAtLowerLimit();
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/**
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* @return The current angle of the pivot.
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*/
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double GetAngle();
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private:
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// Subsystem devices
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// Sensors for measuring the position of the pivot
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frc::DigitalInput m_upperLimitSwitch{13};
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frc::DigitalInput m_lowerLimitSwitch{12};
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/* 0 degrees is vertical facing up.
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* Angle increases the more forward the pivot goes.
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*/
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frc::AnalogPotentiometer m_pot{1};
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// Motor to move the pivot
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frc::PWMSparkMax m_motor{5};
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};
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