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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc/AnalogPotentiometer.h>
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#include <frc/Spark.h>
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#include <frc/commands/PIDSubsystem.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 frc::PIDSubsystem {
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public:
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Wrist();
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void InitDefaultCommand() override;
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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() override;
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/**
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* Use the motor as the PID output. This method is automatically called
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* by
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* the subsystem.
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*/
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void UsePIDOutput(double d) override;
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private:
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frc::Spark m_motor{6};
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// Conversion value of potentiometer varies between the real world and
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// simulation
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#ifndef SIMULATION
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frc::AnalogPotentiometer m_pot{3, -270.0 / 5};
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#else
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frc::AnalogPotentiometer m_pot{3}; // Defaults to degrees
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#endif
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static constexpr double kP_real = 1;
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static constexpr double kP_simulation = 0.05;
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};
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