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