Entropy2014/Kicker.h at master · Nick-P-Orr/Entropy2014 · GitHub

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#ifndef __KICKER__
#define __KICKER__

#define UNWINDTIME 65
#define PULLTIME 250
#define DISENGAGED 0
#define ENGAGED 0
#define LOCKED 0
#define RELEASED 1


#include "WPILib.h"
#include "EntropySubsystemTemplate.h"


class Kicker : public EntropySubsystemTemplate
{

private:
	// The robot shooter left, right, up, down control
	Jaguar *PullMotor;
	Solenoid *Piston_Trigger;
	Solenoid *Piston_Shifter;
	int kickerState;
	int pistonTimer;
	int pullTimer;
	int unwindTimer;
	float INITIALTIME;

	DigitalInput * KickerLatchedSense;
public:
	enum {
		idle,
		pulling,
		unwinding,
		readytoshoot,
		kicked
	};

	Kicker( );

	int getKickerState()
	{
		return kickerState;
	}

	bool Initialize ();

	void Cleanup ();

	void Kick (bool pull, bool kick);

	char * GetFeedback();

	void Kicker::TestWich( bool RotateOneWay, bool RotateAnotherWay);

	void Kicker::TestKicker( bool SetLatch, bool SetKick);

	void Kicker::TestDisplayLatchSwitch();
};
#endif