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RobotModel.h
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RobotModel.h
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#include "WPILib.h"
#include "ini.h"
#include "Debugging.h"
#include "RobotPorts2014.h"
#ifndef ROBOTMODEL_H_
#define ROBOTMODEL_H_
#define PI 3.1415927
class RobotModel
{
public:
enum Wheels { kLeftWheel, kRightWheel, kBothWheels };
Ini *pini;
Encoder *rightWheelEncoder;
Encoder *leftWheelEncoder;
Encoder *catapultEncoder;
#ifdef USE_CAMERA
AxisCamera *camera;
#endif
Compressor* compressor;
DriverStationLCD* dsLCD;
// ADXL345_I2C* accel;
Gyro* gyro;
Timer* timer;
DigitalInput* limitSwitch;
DigitalInput* opticalSensor;
RobotModel();
void ResetGyro();
float GetGyroAngle();
// void PrintToLCD(int line, char message);
double GetLeftWheelEncoderSpeed();
double GetRightWheelEncoderSpeed();
double GetWheelEncoderSpeed(); //average
double GetWheelEncoderDistance(Wheels w);
void ResetEncoder(Encoder *e);
void EnableCompressor();
void DisableCompressor();
bool GetCompressorState();
// void ResetWheelEncoder(RobotModel::Wheels w = RobotModel::kBothWheels);
void SetWheelSpeed(Wheels w, double speed);
void SetCatapultMotorSpeed(double speed);
bool IsLowGear();
void ShiftToHighGear();
void ShiftToLowGear();
void ShiftGear();
#ifdef NEWBOT
void ShiftCatapultToLowGear();
void ShiftCatapultToHighGear();
void EngageLatch();
void ReleaseLatch();
bool IsLowerIntakeIn();
void LowerIntakeArmIn(bool in);
Solenoid* GetLowerIntakePiston();
void MoveLowerIntakeArmIn();
void MoveLowerIntakeArmOut();
bool IsUpperIntakeIn();
void UpperIntakeArmIn(bool in);
Solenoid* GetUpperIntakePiston();
void MoveUpperIntakeArmIn();
void MoveUpperIntakeArmOut();
Solenoid* GetPopBallPiston();
void MovePopBallPistonIn();
void MovePopBallPistonOut();
void SetIntakeSpeed(double speed);
#endif
#ifdef USE_CAMERA
HSLImage *GetCameraImage();
#endif
bool OpticalSensorActivated();
//bool hasCamera();
double GetCurrentTimeInSeconds();
void ResetTimer();
void RefreshIni();
virtual ~RobotModel();
#ifdef USE_CAMERA
bool HasCamera() { return hasCamera; }
bool CheckCameraConnection();
#endif
#ifdef NEWBOT
Talon *driveLeftA, *driveLeftB, *driveRightA, *driveRightB;
Talon *catapultMotorA, *catapultMotorB;
Talon *intakeMotorA, *intakeMotorB;
#else
Victor *driveLeftA, *driveLeftB, *driveRightA, *driveRightB;
#endif
private:
bool isLowGear;
Solenoid* shifterSolenoid;
#ifdef NEWBOT
Solenoid* catapultShifterSolenoid;
Solenoid* latchSolenoid;
Solenoid* popBallSolenoid;
Solenoid* intakeUpperArmSolenoidA;
Solenoid* intakeLowerArmSolenoidA;
Solenoid* intakeUpperArmSolenoidB;
Solenoid* intakeLowerArmSolenoidB;
bool isLowerIntakeIn;
bool isUpperIntakeIn;
#endif
#ifdef USE_CAMERA
bool hasCamera;
#endif
};
#endif /*ROBOTMODEL_H_*/