LRT14  1.0
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Collect.h
1 #ifndef COLLECT_H_
2 #define COLLECT_H_
3 
4 #include "Automation.h"
5 #include "../../ComponentData/CollectorArmData.h"
6 #include "../../ComponentData/CollectorRollersData.h"
7 #include "../../Config/Configurable.h"
8 #include "../../Sensors/SensorFactory.h"
9 
13 class Collect : public Automation, public Configurable
14 {
15 public:
16  Collect();
17 
18  bool Start();
19  bool Run();
20  bool Abort();
21  void AllocateResources();
22 
23  void Configure();
24 
25 private:
26  CollectorArmData* m_collectorArm;
27  CollectorRollersData* m_collectorRollers;
28  GearTooth* m_gearTooth;
29  AnalogChannel* m_redChannel;
30  AnalogChannel* m_greenChannel;
31  AnalogChannel* m_blueChannel;
32  float m_ballCollectionThreshold;
33  int m_redBallRed;
34  int m_redBallBlue;
35  int m_redBallGreen;
36  int m_blueBallRed;
37  int m_blueBallBlue;
38  int m_blueBallGreen;
39  int m_colorRange;
40  bool m_hasBall;
41 };
42 
43 #endif