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<div class="headertitle"><div class="title">FeederBase.cpp</div></div>
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<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/FeederBase.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_feeder_base.html#a770a1e8794411aa4b2f84d14f00c69e9"> 31</a></span>FeederBase::FeederBase(MotorConfig config, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> motorPort) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, motorPort)</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">"Feeder"</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_feeder_base.html#a01974c69fcd139b646079744c332a824"> 36</a></span><a class="code hl_function" href="class_tec_droid_1_1_feeder_base.html#a770a1e8794411aa4b2f84d14f00c69e9">FeederBase::FeederBase</a>(MotorConfig config, vector<unsigned int> motorPorts) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, motorPorts)</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> SetName(<span class="stringliteral">"Feeder"</span>);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>}</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><span class="keywordtype">void</span> FeederBase::Periodic()</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span>{</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> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_feeder_base.html#af8016247a572b299d48a6f6645b9b5b2"> 45</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_feeder_base.html#af8016247a572b299d48a6f6645b9b5b2">FeederBase::Feed</a>()</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>{</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keywordflow">if</span> (m_motorCount > 1)</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> vector<double> speeds(m_motorCount, 1.0);</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> SetMotors(speeds);</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> <span class="keywordflow">else</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"> 54</span> <a class="code hl_function" href="class_tec_droid_1_1_motor_subsystem.html#a52950aa4e5928038500907094baa7aae">SetMotor</a>(1);</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>}</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"><a class="line" href="class_tec_droid_1_1_feeder_base.html#a9daed5a2af2b083ae7e32a80d866d4fd"> 58</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_feeder_base.html#a9daed5a2af2b083ae7e32a80d866d4fd">FeederBase::Unfeed</a>()</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span>{</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordflow">if</span> (m_motorCount > 1)</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> vector<double> speeds(m_motorCount, -1.0);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> SetMotors(speeds);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> }</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> {</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_function" href="class_tec_droid_1_1_motor_subsystem.html#a52950aa4e5928038500907094baa7aae">SetMotor</a>(-1);</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"> 69</span>}</div>
<div class="ttc" id="aclass_tec_droid_1_1_feeder_base_html_a770a1e8794411aa4b2f84d14f00c69e9"><div class="ttname"><a href="class_tec_droid_1_1_feeder_base.html#a770a1e8794411aa4b2f84d14f00c69e9">TecDroid::FeederBase::FeederBase</a></div><div class="ttdeci">FeederBase(MotorConfig, unsigned int)</div><div class="ttdoc">Construct a new Feeder object with a single motor.</div><div class="ttdef"><b>Definition:</b> <a href="_feeder_base_8cpp_source.html#l00031">FeederBase.cpp:31</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_feeder_base_html_a9daed5a2af2b083ae7e32a80d866d4fd"><div class="ttname"><a href="class_tec_droid_1_1_feeder_base.html#a9daed5a2af2b083ae7e32a80d866d4fd">TecDroid::FeederBase::Unfeed</a></div><div class="ttdeci">void Unfeed()</div><div class="ttdoc">Move the feeder outwards.</div><div class="ttdef"><b>Definition:</b> <a href="_feeder_base_8cpp_source.html#l00058">FeederBase.cpp:58</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_feeder_base_html_af8016247a572b299d48a6f6645b9b5b2"><div class="ttname"><a href="class_tec_droid_1_1_feeder_base.html#af8016247a572b299d48a6f6645b9b5b2">TecDroid::FeederBase::Feed</a></div><div class="ttdeci">void Feed()</div><div class="ttdoc">Move the feeder inwards.</div><div class="ttdef"><b>Definition:</b> <a href="_feeder_base_8cpp_source.html#l00045">FeederBase.cpp:45</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_motor_subsystem_html"><div class="ttname"><a href="class_tec_droid_1_1_motor_subsystem.html">TecDroid::MotorSubsystem</a></div><div class="ttdef"><b>Definition:</b> <a href="_motor_subsystem_8h_source.html#l00051">MotorSubsystem.h:52</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_motor_subsystem_html_a52950aa4e5928038500907094baa7aae"><div class="ttname"><a href="class_tec_droid_1_1_motor_subsystem.html#a52950aa4e5928038500907094baa7aae">TecDroid::MotorSubsystem::SetMotor</a></div><div class="ttdeci">void SetMotor(double)</div><div class="ttdoc">Sets the Motor speed.</div><div class="ttdef"><b>Definition:</b> <a href="_motor_subsystem_8cpp_source.html#l00112">MotorSubsystem.cpp:112</a></div></div>
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