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<div class="headertitle"><div class="title">IntakeBase.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/IntakeBase.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_intake_base.html#a5937450d1b2d66014ce3f305d6310396"> 31</a></span>IntakeBase::IntakeBase(MotorConfig config, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> port) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, port)</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">"Intake"</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_intake_base.html#a36428dad9fa5988377b7706ef8284259"> 36</a></span><a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a5937450d1b2d66014ce3f305d6310396">IntakeBase::IntakeBase</a>(MotorConfig config, vector<unsigned int> ports) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, ports)</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">"Intake"</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"><a class="line" href="class_tec_droid_1_1_intake_base.html#add9328dea2c827edaecf36152873f5ee"> 41</a></span><a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a5937450d1b2d66014ce3f305d6310396">IntakeBase::IntakeBase</a>(MotorConfig config, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> port, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> solenoidA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> solenoidB) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, port), <a class="code hl_class" href="class_tec_droid_1_1_solenoid_subsystem.html">SolenoidSubsystem</a>(solenoidA, solenoidB)</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> SetName(<span class="stringliteral">"Intake"</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"> 45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_intake_base.html#a053cb723f50ef1a34626291be6bf4e2e"> 46</a></span><a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a5937450d1b2d66014ce3f305d6310396">IntakeBase::IntakeBase</a>(MotorConfig config, vector<unsigned int> ports, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> solenoidA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> solenoidB) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, ports), <a class="code hl_class" href="class_tec_droid_1_1_solenoid_subsystem.html">SolenoidSubsystem</a>(solenoidA, solenoidB)</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span>{</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> SetName(<span class="stringliteral">"Intake"</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> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_intake_base.html#ae27236385c018be9d7f5772295ccf654"> 51</a></span><a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a5937450d1b2d66014ce3f305d6310396">IntakeBase::IntakeBase</a>(MotorConfig config, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> port, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightB, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftB) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, port), <a class="code hl_class" href="class_tec_droid_1_1_solenoid_subsystem.html">SolenoidSubsystem</a>(rightA, rightB, leftA, leftB)</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> SetName(<span class="stringliteral">"Intake"</span>);</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span>}</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"><a class="line" href="class_tec_droid_1_1_intake_base.html#a481e5a58c95ba8a9f6d6535c6c57fa41"> 56</a></span><a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a5937450d1b2d66014ce3f305d6310396">IntakeBase::IntakeBase</a>(MotorConfig config, vector<unsigned int> ports, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightB, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftA, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftB) : <a class="code hl_class" href="class_tec_droid_1_1_motor_subsystem.html">MotorSubsystem</a>(config, ports), <a class="code hl_class" href="class_tec_droid_1_1_solenoid_subsystem.html">SolenoidSubsystem</a>(rightA, rightB, leftA, leftB)</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> SetName(<span class="stringliteral">"Intake"</span>);</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> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keywordtype">void</span> IntakeBase::Periodic()</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"> 64</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_intake_base.html#ab06ef424998ff407555903fc00a7eedf"> 65</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#ab06ef424998ff407555903fc00a7eedf">IntakeBase::Take</a>()</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> <span class="keywordflow">if</span> (m_motorCount > 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> vector<double> speeds(m_motorCount, 1.0);</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> SetMotors(speeds);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> }</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordflow">else</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"> 74</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="l00075" name="l00075"></a><span class="lineno"> 75</span> }</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span>}</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"><a class="line" href="class_tec_droid_1_1_intake_base.html#a9ff9851e905ecb75ec44d582afcdee96"> 78</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a9ff9851e905ecb75ec44d582afcdee96">IntakeBase::Spit</a>()</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span>{</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordflow">if</span> (m_motorCount > 1)</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> {</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> vector<double> speeds(m_motorCount, -1.0);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> SetMotors(speeds);</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> }</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> {</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</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="l00088" name="l00088"></a><span class="lineno"> 88</span> }</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span>}</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"><a class="line" href="class_tec_droid_1_1_intake_base.html#a99c402ca3452c736358958da6689e5c4"> 91</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a99c402ca3452c736358958da6689e5c4">IntakeBase::Lower</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> <a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a9de162f6dd31dd569f9bb52dcc5dbcfa">OpenSolenoids</a>();</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span>}</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"><a class="line" href="class_tec_droid_1_1_intake_base.html#a95419c91658fde0441a2597dde6d5700"> 96</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_intake_base.html#a95419c91658fde0441a2597dde6d5700">IntakeBase::Raise</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> <a class="code hl_function" href="class_tec_droid_1_1_solenoid_subsystem.html#a9db186b288a3b287215d511becf5a896">CloseSolenoids</a>();</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span>}</div>
<div class="ttc" id="aclass_tec_droid_1_1_intake_base_html_a5937450d1b2d66014ce3f305d6310396"><div class="ttname"><a href="class_tec_droid_1_1_intake_base.html#a5937450d1b2d66014ce3f305d6310396">TecDroid::IntakeBase::IntakeBase</a></div><div class="ttdeci">IntakeBase(MotorConfig, unsigned int)</div><div class="ttdoc">Construct a new Intake object with a single motor.</div><div class="ttdef"><b>Definition:</b> <a href="_intake_base_8cpp_source.html#l00031">IntakeBase.cpp:31</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_intake_base_html_a95419c91658fde0441a2597dde6d5700"><div class="ttname"><a href="class_tec_droid_1_1_intake_base.html#a95419c91658fde0441a2597dde6d5700">TecDroid::IntakeBase::Raise</a></div><div class="ttdeci">void Raise()</div><div class="ttdoc">Raise the intake with solenoids.</div><div class="ttdef"><b>Definition:</b> <a href="_intake_base_8cpp_source.html#l00096">IntakeBase.cpp:96</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_intake_base_html_a99c402ca3452c736358958da6689e5c4"><div class="ttname"><a href="class_tec_droid_1_1_intake_base.html#a99c402ca3452c736358958da6689e5c4">TecDroid::IntakeBase::Lower</a></div><div class="ttdeci">void Lower()</div><div class="ttdoc">Lower the intake with solenoids.</div><div class="ttdef"><b>Definition:</b> <a href="_intake_base_8cpp_source.html#l00091">IntakeBase.cpp:91</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_intake_base_html_a9ff9851e905ecb75ec44d582afcdee96"><div class="ttname"><a href="class_tec_droid_1_1_intake_base.html#a9ff9851e905ecb75ec44d582afcdee96">TecDroid::IntakeBase::Spit</a></div><div class="ttdeci">void Spit()</div><div class="ttdoc">Turns the intake outward.</div><div class="ttdef"><b>Definition:</b> <a href="_intake_base_8cpp_source.html#l00078">IntakeBase.cpp:78</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_intake_base_html_ab06ef424998ff407555903fc00a7eedf"><div class="ttname"><a href="class_tec_droid_1_1_intake_base.html#ab06ef424998ff407555903fc00a7eedf">TecDroid::IntakeBase::Take</a></div><div class="ttdeci">void Take()</div><div class="ttdoc">Turns the intake inward.</div><div class="ttdef"><b>Definition:</b> <a href="_intake_base_8cpp_source.html#l00065">IntakeBase.cpp:65</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>
<div class="ttc" id="aclass_tec_droid_1_1_solenoid_subsystem_html"><div class="ttname"><a href="class_tec_droid_1_1_solenoid_subsystem.html">TecDroid::SolenoidSubsystem</a></div><div class="ttdef"><b>Definition:</b> <a href="_solenoid_subsystem_8h_source.html#l00038">SolenoidSubsystem.h:39</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>
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