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<div class="headertitle"><div class="title">ClawBase.cpp</div></div>
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<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*------------------------------------------------------------</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&,</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> .&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&&&&&%</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> .&&&&/ &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&&&&&&&&*</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> .%&&&( &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&% %&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> %&&&# %#&&# (&&&&&&&&&&& %&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> *&&&# (&&&&&&&&&&& / %&&&&&&&&&&&</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">*&% , (&&&&&&&&&&&(&&&&( &&&&&&&&&&&</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment">& (,.. (&&&&&&&&&&&&&&&& %&&&&&&&&&&</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> &* (&&&&&&&&&&&&&&&& &&&&&&&&&&&</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> &/ (&&&&&&&&&&&&&&&&% &&&&&&&&&&&(</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> #&& .&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&#**(&&&&&&&&&&&&&#</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> &# (& ......... &&&&&&&&&&&&&&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> /& & .&&&&&&&&&&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> %&&* &* ,%&&&&&&&&&&&&&%*</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"></span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> Author: Esteban Padilla Cerdio</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> Email: [email protected]</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> URL: github.com/esteb37</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> github.com/tecdroid-3354</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> Date: 12/04/2022</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> Language: cpp</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> Copyright (c) TecDroid 3354 and Esteban Padilla Cerdio</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> Open Source Software; you can modify and/or share it under the terms of</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">*/</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="preprocessor">#include "subsystems/ClawBase.h"</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="keyword">using namespace </span>TecDroid;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#aee4960691847e8ede8654f92e926100c"> 31</a></span>ClawBase::ClawBase()</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span>{</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> SetName(<span class="stringliteral">"Claw"</span>);</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span>}</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#a7947547c0658d6df4f5f79a9316f66f9"> 36</a></span><a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#aee4960691847e8ede8654f92e926100c">ClawBase::ClawBase</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> solenoidA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> solenoidB)</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span>{</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> m_hand.SetName(<span class="stringliteral">"Claw Hand"</span>);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#acfe49b651115545e1144e8e530737818">ConfigureSolenoid</a>(solenoidA, solenoidB);</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>}</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#af30c5d7a146ef8e0c8f18f8298a501ea"> 42</a></span><a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#aee4960691847e8ede8654f92e926100c">ClawBase::ClawBase</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> handA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> handB, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> wristA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> wristB)</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>{</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> m_hand.SetName(<span class="stringliteral">"Claw Hand"</span>);</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> m_wrist.SetName(<span class="stringliteral">"Claw Wrist"</span>);</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#acfe49b651115545e1144e8e530737818">ConfigureSolenoid</a>(handA, handB);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#acfe49b651115545e1144e8e530737818">ConfigureSolenoid</a>(wristA, wristB);</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>}</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keywordtype">void</span> ClawBase::Periodic()</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>{</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span>}</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#ab576f67379acb8c7077273d9bfc6261f"> 54</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#ab576f67379acb8c7077273d9bfc6261f">ClawBase::OpenHand</a>()</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span>{</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a9de162f6dd31dd569f9bb52dcc5dbcfa">OpenSolenoids</a>();</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>}</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#addf46b1fedd82674afff2e713f4d75c1"> 59</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#addf46b1fedd82674afff2e713f4d75c1">ClawBase::CloseHand</a>()</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span>{</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a9db186b288a3b287215d511becf5a896">CloseSolenoids</a>();</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>}</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#af10ae00a4b101f7ca5fdf4b3f98030f9"> 64</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#af10ae00a4b101f7ca5fdf4b3f98030f9">ClawBase::ToggleHand</a>()</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>{</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a178da375f350df71f8827c4f21d3d49b">ToggleSolenoids</a>();</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span>}</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#a54620067902a861bd004cb7aa7208deb"> 69</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#a54620067902a861bd004cb7aa7208deb">ClawBase::InvertHand</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span>{</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a3148826b8e534bd861355ed9a03e66c6">InvertSolenoids</a>(invert);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span>}</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#a007a08a494a741782a75602070e73f1b"> 74</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#a007a08a494a741782a75602070e73f1b">ClawBase::HandOff</a>()</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span>{</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a30e51828db0a3c1b0f4463efd648159b">SolenoidsOff</a>();</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span>}</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#ab6d1371b423e1a97a5e1241c9fc6b109"> 79</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#ab6d1371b423e1a97a5e1241c9fc6b109">ClawBase::GetHand</a>()</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span>{</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keywordflow">return</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a7cb4eee166473a6411d1c7d75b56d2ad">GetSolenoid</a>();</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span>}</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#ae1151bdfd1c908aac5059bd3c296fe64"> 84</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#ae1151bdfd1c908aac5059bd3c296fe64">ClawBase::PrintHand</a>()</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span>{</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> m_hand.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#aa31a8676cf5967a0e719d88bdca874b5">PrintSolenoids</a>();</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span>}</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#acc01f6ba6211e658743f626705b23425"> 89</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#acc01f6ba6211e658743f626705b23425">ClawBase::RaiseWrist</a>()</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span>{</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a9db186b288a3b287215d511becf5a896">CloseSolenoids</a>();</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span>}</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#a1ebb12d4fd9a3888d88cebee7813df07"> 94</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#a1ebb12d4fd9a3888d88cebee7813df07">ClawBase::LowerWrist</a>()</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span>{</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a9de162f6dd31dd569f9bb52dcc5dbcfa">OpenSolenoids</a>();</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span>}</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#a327e9bd1ccc8d2b0d70567474cf5237c"> 99</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#a327e9bd1ccc8d2b0d70567474cf5237c">ClawBase::ToggleWrist</a>()</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span>{</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a178da375f350df71f8827c4f21d3d49b">ToggleSolenoids</a>();</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span>}</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#ad7f5c37d8fae4f40f2dec07ba5cdf203"> 104</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#ad7f5c37d8fae4f40f2dec07ba5cdf203">ClawBase::InvertWrist</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span>{</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a3148826b8e534bd861355ed9a03e66c6">InvertSolenoids</a>(invert);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span>}</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#aa6df674c94e8cb693d5983a73fe0ce6b"> 109</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#aa6df674c94e8cb693d5983a73fe0ce6b">ClawBase::WristOff</a>()</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span>{</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a30e51828db0a3c1b0f4463efd648159b">SolenoidsOff</a>();</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span>}</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#acb48f654b07e0b19669a06894a12fe60"> 114</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#acb48f654b07e0b19669a06894a12fe60">ClawBase::GetWrist</a>()</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span>{</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">return</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a7cb4eee166473a6411d1c7d75b56d2ad">GetSolenoid</a>();</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span>}</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_claw_base.html#aea152a420d7a467c07677e17ba18889c"> 119</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_claw_base.html#aea152a420d7a467c07677e17ba18889c">ClawBase::PrintWrist</a>()</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span>{</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> m_wrist.<a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#aa31a8676cf5967a0e719d88bdca874b5">PrintSolenoids</a>();</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span>}</div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_a007a08a494a741782a75602070e73f1b"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#a007a08a494a741782a75602070e73f1b">TecDroid::ClawBase::HandOff</a></div><div class="ttdeci">void HandOff()</div><div class="ttdoc">Turns the hand solenoid off.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00074">ClawBase.cpp:74</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_a1ebb12d4fd9a3888d88cebee7813df07"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#a1ebb12d4fd9a3888d88cebee7813df07">TecDroid::ClawBase::LowerWrist</a></div><div class="ttdeci">void LowerWrist()</div><div class="ttdoc">Lowers the claw.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00094">ClawBase.cpp:94</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_a327e9bd1ccc8d2b0d70567474cf5237c"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#a327e9bd1ccc8d2b0d70567474cf5237c">TecDroid::ClawBase::ToggleWrist</a></div><div class="ttdeci">void ToggleWrist()</div><div class="ttdoc">Toggles between low and up claw.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00099">ClawBase.cpp:99</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_a54620067902a861bd004cb7aa7208deb"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#a54620067902a861bd004cb7aa7208deb">TecDroid::ClawBase::InvertHand</a></div><div class="ttdeci">void InvertHand(bool)</div><div class="ttdoc">Inverts open and close status.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00069">ClawBase.cpp:69</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_aa6df674c94e8cb693d5983a73fe0ce6b"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#aa6df674c94e8cb693d5983a73fe0ce6b">TecDroid::ClawBase::WristOff</a></div><div class="ttdeci">void WristOff()</div><div class="ttdoc">Turns the wrist solenoid off.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00109">ClawBase.cpp:109</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_ab576f67379acb8c7077273d9bfc6261f"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#ab576f67379acb8c7077273d9bfc6261f">TecDroid::ClawBase::OpenHand</a></div><div class="ttdeci">void OpenHand()</div><div class="ttdoc">Opens the claw.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00054">ClawBase.cpp:54</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_ab6d1371b423e1a97a5e1241c9fc6b109"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#ab6d1371b423e1a97a5e1241c9fc6b109">TecDroid::ClawBase::GetHand</a></div><div class="ttdeci">unsigned int GetHand()</div><div class="ttdoc">Get the hand solenoid status.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00079">ClawBase.cpp:79</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_acb48f654b07e0b19669a06894a12fe60"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#acb48f654b07e0b19669a06894a12fe60">TecDroid::ClawBase::GetWrist</a></div><div class="ttdeci">unsigned int GetWrist()</div><div class="ttdoc">Get the wrist solenoid status.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00114">ClawBase.cpp:114</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_acc01f6ba6211e658743f626705b23425"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#acc01f6ba6211e658743f626705b23425">TecDroid::ClawBase::RaiseWrist</a></div><div class="ttdeci">void RaiseWrist()</div><div class="ttdoc">Raises the claw.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00089">ClawBase.cpp:89</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_ad7f5c37d8fae4f40f2dec07ba5cdf203"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#ad7f5c37d8fae4f40f2dec07ba5cdf203">TecDroid::ClawBase::InvertWrist</a></div><div class="ttdeci">void InvertWrist(bool)</div><div class="ttdoc">Inverts low and up status.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00104">ClawBase.cpp:104</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_addf46b1fedd82674afff2e713f4d75c1"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#addf46b1fedd82674afff2e713f4d75c1">TecDroid::ClawBase::CloseHand</a></div><div class="ttdeci">void CloseHand()</div><div class="ttdoc">Closes the claw.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00059">ClawBase.cpp:59</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_ae1151bdfd1c908aac5059bd3c296fe64"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#ae1151bdfd1c908aac5059bd3c296fe64">TecDroid::ClawBase::PrintHand</a></div><div class="ttdeci">void PrintHand()</div><div class="ttdoc">Publishes the hand solenoid status to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00084">ClawBase.cpp:84</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_aea152a420d7a467c07677e17ba18889c"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#aea152a420d7a467c07677e17ba18889c">TecDroid::ClawBase::PrintWrist</a></div><div class="ttdeci">void PrintWrist()</div><div class="ttdoc">Publishes the wrist solenoid status to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00119">ClawBase.cpp:119</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_aee4960691847e8ede8654f92e926100c"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#aee4960691847e8ede8654f92e926100c">TecDroid::ClawBase::ClawBase</a></div><div class="ttdeci">ClawBase()</div><div class="ttdoc">Construct a new Claw object with no solenoids attached.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00031">ClawBase.cpp:31</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_claw_base_html_af10ae00a4b101f7ca5fdf4b3f98030f9"><div class="ttname"><a href="class_tec_droid_1_1_claw_base.html#af10ae00a4b101f7ca5fdf4b3f98030f9">TecDroid::ClawBase::ToggleHand</a></div><div class="ttdeci">void ToggleHand()</div><div class="ttdoc">Toggles between open and closed claw.</div><div class="ttdef"><b>Definition:</b> <a href="_claw_base_8cpp_source.html#l00064">ClawBase.cpp:64</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_a178da375f350df71f8827c4f21d3d49b"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#a178da375f350df71f8827c4f21d3d49b">TecDroid::SolenoidSubsystem::ToggleSolenoids</a></div><div class="ttdeci">void ToggleSolenoids()</div><div class="ttdoc">Toggles between forward and reverse.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00139">SolenoidSubsystem.cpp:139</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_a30e51828db0a3c1b0f4463efd648159b"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#a30e51828db0a3c1b0f4463efd648159b">TecDroid::SolenoidSubsystem::SolenoidsOff</a></div><div class="ttdeci">void SolenoidsOff()</div><div class="ttdoc">Sets the solenoids to kOFF.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00103">SolenoidSubsystem.cpp:103</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_a3148826b8e534bd861355ed9a03e66c6"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#a3148826b8e534bd861355ed9a03e66c6">TecDroid::SolenoidSubsystem::InvertSolenoids</a></div><div class="ttdeci">void InvertSolenoids(bool invert)</div><div class="ttdoc">Invert which value is up or down.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00151">SolenoidSubsystem.cpp:151</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_a7cb4eee166473a6411d1c7d75b56d2ad"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#a7cb4eee166473a6411d1c7d75b56d2ad">TecDroid::SolenoidSubsystem::GetSolenoid</a></div><div class="ttdeci">unsigned int GetSolenoid()</div><div class="ttdoc">Get the single solenoid state.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00120">SolenoidSubsystem.cpp:120</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_a9db186b288a3b287215d511becf5a896"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#a9db186b288a3b287215d511becf5a896">TecDroid::SolenoidSubsystem::CloseSolenoids</a></div><div class="ttdeci">void CloseSolenoids()</div><div class="ttdoc">Sets the solenoids to kReverse.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00087">SolenoidSubsystem.cpp:87</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_a9de162f6dd31dd569f9bb52dcc5dbcfa"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#a9de162f6dd31dd569f9bb52dcc5dbcfa">TecDroid::SolenoidSubsystem::OpenSolenoids</a></div><div class="ttdeci">void OpenSolenoids()</div><div class="ttdoc">Sets the solenoids to kForward.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00071">SolenoidSubsystem.cpp:71</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_aa31a8676cf5967a0e719d88bdca874b5"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#aa31a8676cf5967a0e719d88bdca874b5">TecDroid::SolenoidSubsystem::PrintSolenoids</a></div><div class="ttdeci">void PrintSolenoids()</div><div class="ttdoc">Publishes the solenoids' value on the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00125">SolenoidSubsystem.cpp:125</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html_acfe49b651115545e1144e8e530737818"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html#acfe49b651115545e1144e8e530737818">TecDroid::SolenoidSubsystem::ConfigureSolenoid</a></div><div class="ttdeci">void ConfigureSolenoid(unsigned int, unsigned int)</div><div class="ttdoc">Set the solenoid ports.</div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8cpp_source.html#l00066">SolenoidSubsystem.cpp:66</a></div></div>
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