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<div class="headertitle"><div class="title">ElevatorBase.h</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">#pragma once</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="preprocessor">#include "subsystems/EncoderSubsystem.h"</span></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"> 31</span><span class="keyword">namespace </span>TecDroid</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"><a class="line" href="class_tec_droid_1_1_elevator_base.html"> 33</a></span> <span class="keyword">class </span><a class="code hl_class" href="class_tec_droid_1_1_elevator_base.html">ElevatorBase</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_tec_droid_1_1_encoder_subsystem.html">EncoderSubsystem</a></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> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a2640935372680b795d5b8692ab695f98">ElevatorBase</a>(MotorConfig, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a2640935372680b795d5b8692ab695f98">ElevatorBase</a>(MotorConfig, vector<unsigned int>);</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a2640935372680b795d5b8692ab695f98">ElevatorBase</a>(MotorConfig, EncoderConfig, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a2640935372680b795d5b8692ab695f98">ElevatorBase</a>(MotorConfig, EncoderConfig, vector<unsigned int>);</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a2640935372680b795d5b8692ab695f98">ElevatorBase</a>(MotorConfig, EncoderConfig, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a2640935372680b795d5b8692ab695f98">ElevatorBase</a>(MotorConfig, EncoderConfig, vector<unsigned int>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordtype">void</span> Periodic() <span class="keyword">override</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"> 94</span> <span class="comment">// ---------- Actions -----------</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a4d2b4e0c08872df57a0322ac4aa7360b">Move</a>(<span class="keywordtype">double</span>);</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a9a34873a5cec74fc48d54d526ab945d7">SetHeightToFloor</a>(<span class="keywordtype">double</span>);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#ac0d143207c5facea586c6f9d80de1269">GetRelativeHeight</a>();</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a8f81162174932e8f0d3bae7cfde24ace">GetAbsoluteHeight</a>();</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a0691bb1cf526f2cbd53c3a1d7cb81809">SetRelativeHeight</a>(<span class="keywordtype">double</span>, <span class="keywordtype">double</span>);</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a08e73a8ac4eb98edc10642afa24d89c6">SetAbsoluteHeight</a>(<span class="keywordtype">double</span>, <span class="keywordtype">double</span>);</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_elevator_base.html#a246bdfabc52cd9f3a1e4c8699205c2e4">SetMinMaxHeight</a>(<span class="keywordtype">double</span>, <span class="keywordtype">double</span>);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> </div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">protected</span>:</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">double</span> m_heightToFloor;</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> };</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span>}</div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html">TecDroid::ElevatorBase</a></div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8h_source.html#l00033">ElevatorBase.h:34</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_a0691bb1cf526f2cbd53c3a1d7cb81809"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#a0691bb1cf526f2cbd53c3a1d7cb81809">TecDroid::ElevatorBase::SetRelativeHeight</a></div><div class="ttdeci">bool SetRelativeHeight(double, double)</div><div class="ttdoc">Sets the height of the elevator relative to itself.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00096">ElevatorBase.cpp:96</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_a08e73a8ac4eb98edc10642afa24d89c6"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#a08e73a8ac4eb98edc10642afa24d89c6">TecDroid::ElevatorBase::SetAbsoluteHeight</a></div><div class="ttdeci">bool SetAbsoluteHeight(double, double)</div><div class="ttdoc">Sets the height of the elevator relative to the floor.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00101">ElevatorBase.cpp:101</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_a246bdfabc52cd9f3a1e4c8699205c2e4"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#a246bdfabc52cd9f3a1e4c8699205c2e4">TecDroid::ElevatorBase::SetMinMaxHeight</a></div><div class="ttdeci">void SetMinMaxHeight(double, double)</div><div class="ttdoc">Sets the minimum and maximum height for safety.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00106">ElevatorBase.cpp:106</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_a2640935372680b795d5b8692ab695f98"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#a2640935372680b795d5b8692ab695f98">TecDroid::ElevatorBase::ElevatorBase</a></div><div class="ttdeci">ElevatorBase(MotorConfig, unsigned int)</div><div class="ttdoc">Construct a new Elevator object with no encoder and a single motor.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00031">ElevatorBase.cpp:31</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_a4d2b4e0c08872df57a0322ac4aa7360b"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#a4d2b4e0c08872df57a0322ac4aa7360b">TecDroid::ElevatorBase::Move</a></div><div class="ttdeci">void Move(double)</div><div class="ttdoc">Moves the elevator.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00069">ElevatorBase.cpp:69</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_a8f81162174932e8f0d3bae7cfde24ace"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#a8f81162174932e8f0d3bae7cfde24ace">TecDroid::ElevatorBase::GetAbsoluteHeight</a></div><div class="ttdeci">double GetAbsoluteHeight()</div><div class="ttdoc">Gets the height of the elevator relative to the floor.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00091">ElevatorBase.cpp:91</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_a9a34873a5cec74fc48d54d526ab945d7"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#a9a34873a5cec74fc48d54d526ab945d7">TecDroid::ElevatorBase::SetHeightToFloor</a></div><div class="ttdeci">void SetHeightToFloor(double)</div><div class="ttdoc">Sets the offset of the elevator height relative to the floor.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00081">ElevatorBase.cpp:81</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_elevator_base_html_ac0d143207c5facea586c6f9d80de1269"><div class="ttname"><a href="class_tec_droid_1_1_elevator_base.html#ac0d143207c5facea586c6f9d80de1269">TecDroid::ElevatorBase::GetRelativeHeight</a></div><div class="ttdeci">double GetRelativeHeight()</div><div class="ttdoc">Gets the height of the elevator relative to itself.</div><div class="ttdef"><b>Definition:</b> <a href="_elevator_base_8cpp_source.html#l00086">ElevatorBase.cpp:86</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_encoder_subsystem_html"><div class="ttname"><a href="class_tec_droid_1_1_encoder_subsystem.html">TecDroid::EncoderSubsystem</a></div><div class="ttdef"><b>Definition:</b> <a href="_encoder_subsystem_8h_source.html#l00042">EncoderSubsystem.h:43</a></div></div>
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