75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
|
/*
|
||
|
|
This Source Code Form is subject to the terms of the Mozilla Public
|
||
|
|
License, v. 2.0. If a copy of the MPL was not distributed with this
|
||
|
|
file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "api.h"
|
||
|
|
|
||
|
|
namespace ez {
|
||
|
|
class Piston {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* Piston used throughout.
|
||
|
|
*/
|
||
|
|
pros::ADIDigitalOut piston;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Piston constructor. This class keeps track of piston state. The starting position of your piston is FALSE.
|
||
|
|
*
|
||
|
|
* \param input_port
|
||
|
|
* The ports of your pistons.
|
||
|
|
* \param default_state
|
||
|
|
* Starting state of your piston.
|
||
|
|
*/
|
||
|
|
Piston(int input_port, bool default_state = false);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Piston constructor in 3 wire expander. The starting position of your piston is FALSE.
|
||
|
|
*
|
||
|
|
* \param input_ports
|
||
|
|
* The ports of your pistons.
|
||
|
|
* \param default_state
|
||
|
|
* Starting state of your piston.
|
||
|
|
*/
|
||
|
|
Piston(int input_port, int expander_smart_port, bool default_state = false);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets the piston to the input.
|
||
|
|
*
|
||
|
|
* \param input
|
||
|
|
* True or false. True sets to the opposite of the starting position.
|
||
|
|
*/
|
||
|
|
void set(bool input);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Returns current piston state.
|
||
|
|
*/
|
||
|
|
bool get();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* One button toggle for the piston.
|
||
|
|
*
|
||
|
|
* \param toggle
|
||
|
|
* An input button.
|
||
|
|
*/
|
||
|
|
void button_toggle(int toggle);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Two buttons trigger the piston. Active is enabled, deactive is disabled.
|
||
|
|
*
|
||
|
|
* \param active
|
||
|
|
* Sets piston to true.
|
||
|
|
* \param active
|
||
|
|
* Sets piston to false.
|
||
|
|
*/
|
||
|
|
void buttons(int active, int deactive);
|
||
|
|
|
||
|
|
private:
|
||
|
|
bool reversed = false;
|
||
|
|
bool current = false;
|
||
|
|
int last_press = 0;
|
||
|
|
};
|
||
|
|
}; // namespace ez
|