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WinchPawl.h
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#ifndef WINCH_PAWL_H_
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#define WINCH_PAWL_H_
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#include <string>
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#include "../ComponentData/ComponentData.h"
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#include "../ComponentData/WinchPawlData.h"
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#include "../ComponentData/ClimberData.h"
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#include "../SpeedController/AsyncCANJaguar.h"
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#include "../Config/RobotConfig.h"
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#include "../Config/DriverStationConfig.h"
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#include "../Sensors/DriveEncoders.h"
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#include "../Utils/AsyncPrinter.h"
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#include "../Utils/Stopwatch.h"
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#include "../Utils/SmarterDashboard.h"
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#include "../Config/ConfigManager.h"
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#include "../Config/Configurable.h"
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#include "Component.h"
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using namespace
data;
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using namespace
data::climber;
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class
WinchPawl :
public
Component
,
Configurable
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{
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public
:
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WinchPawl();
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~WinchPawl();
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void
enabledPeriodic();
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void
disabledPeriodic();
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void
onEnable();
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void
onDisable();
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void
Configure();
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float
CurrentLimit(
float
dutyCycle,
float
speed);
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private
:
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Stopwatch m_stopWatch;
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AsyncCANJaguar
m_jaguar;
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string
m_configSection;
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ComponentData
* m_componentData;
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WinchPawlData* m_winchPawlData;
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DriveEncoders
* m_driving_encoders;
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bool
m_timedOut;
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float
m_lastRequestedDutyCycle;
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double
m_overCurrentThreshold;
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int
m_overCurrentCounter;
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int
m_maxOverCurrentCounter;
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float
m_forwardCurrentLimit;
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bool
m_lastEnabled;
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double
m_timeout;
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};
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#endif
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