2014/solenoidbreakout.cpp at master · team3499/2014 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
#include "solenoidbreakout.h"

SolenoidBreakout::SolenoidBreakout()
{
    // Ball shooter
    s1 = new Solenoid(1);
    s2 = new Solenoid(2);
    s3 = new Solenoid(3);
    s4 = new Solenoid(4);
    s5 = new Solenoid(5);

    // Open/Close arm
    s6 = new Solenoid(6);
    s7 = new Solenoid(7);

    // Unused so far10
    s8 = new Solenoid(8);
}
SolenoidBreakout::~SolenoidBreakout(){
    delete s1;
    delete s2;
    delete s3;
    delete s4;
    delete s5;
    delete s6;
    delete s7;
    delete s8;
}

// ARM -- OPEN/CLOSE //
void SolenoidBreakout::openArm(){
    s7->Set(false);
    s6->Set(true);
}

void SolenoidBreakout::closeArm(){
    s6->Set(false);
    s7->Set(true);
}

bool SolenoidBreakout::isArmOpen(){
    return s6->Get();
}

// FIRING MECHANISM -- SHOT/UNSHOT //
void SolenoidBreakout::shootBall(){
    s1->Set(true);
    s2->Set(true);
    s3->Set(true);
    s4->Set(true);
    s5->Set(true);
}

void SolenoidBreakout::shootCenter(){
    s1->Set(false);
    s2->Set(false);
    s3->Set(true);
    s4->Set(false);
    s5->Set(false);
}

void SolenoidBreakout::unShootBall(){
    s1->Set(false);
    s2->Set(false);
    s3->Set(false);
    s4->Set(false);
    s5->Set(false);
}

bool SolenoidBreakout::isBallShot(){
    return s1->Get();
}