LRT14  1.0
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LauncherLoader.h
1 #ifndef LAUNCHER_LOADER_H_
2 #define LAUNCHER_LOADER_H_
3 
4 #include "Component.h"
5 #include "../Config/Configurable.h"
6 #include "../ComponentData/LauncherLoaderData.h"
7 #include "../Actuators/LRTVictor.h"
8 #include "../Actuators/Pneumatics.h"
9 #include "../Sensors/SensorFactory.h"
10 #include "../Communication/LiveNetworkSendable.h"
11 
16 {
17 public:
19  ~LauncherLoader();
20 
21  void OnEnabled();
22  void OnDisabled();
23 
24  void UpdateEnabled();
25  void UpdateDisabled();
26 
27  void Configure();
28  void Send();
29 
30 private:
31  LauncherLoaderData* m_loaderData;
32  LRTSpeedController* m_motorA;
33  LRTSpeedController* m_motorB;
34  Pneumatics* m_safety;
35  AnalogChannel* m_sensor;
36  DigitalInput* m_proximity;
37  int m_unloadSetpoint;
38  int m_intermediateSetpoint;
39  int m_loadSetpoint;
40  float m_gain;
41  int m_wrapThreshold;
42  int m_maxSensorValue;
43  int m_completionErrorThreshold;
44  int m_desiredZero;
45 
46  int m_currentRotation;
47  int m_currentSensorValue;
48  int m_lastRawSensorValue;
49  int m_currentSetpoint;
50  bool m_load;
51  int m_desiredRotation;
52 };
53 
54 #endif