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