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<a href="_turret_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="preprocessor">#include "<a class="code" href="_turret_8h.html">subsystems/Turret.h</a>"</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span> </div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="keyword">using namespace </span>std;</div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"><a class="line" href="class_turret.html#a716b97b5618cc59c9b095954f92fd47c"> 5</a></span><a class="code hl_function" href="class_turret.html#a716b97b5618cc59c9b095954f92fd47c">Turret::Turret</a>()</div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span>{</div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span> </div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span> m_encoder.SetDistancePerPulse(<a class="code hl_variable" href="_constants_8h.html#aef024814b64dbe1bdc664c482f57783f">k_turretDPR</a>);</div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// TODO : change if spark encoder</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span> </div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// m_encoder.SetPositionConversionFactor(k_turretDPR);</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span> m_alignPID.SetTolerance(<a class="code hl_variable" href="_constants_8h.html#ad2febd1e9c2b24234d9cc6dc47bc1a0b">k_turretAlignPIDTolerance</a>);</div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> m_anglePID.SetTolerance(<a class="code hl_variable" href="_constants_8h.html#af22e9db8e6f7fe002cc20603d4a9475e">k_turretAnglePIDTolerance</a>);</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span>}</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span> </div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="class_turret.html#ae6438eb6ae5ec2be9346b5ad774ace2d"> 19</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#ae6438eb6ae5ec2be9346b5ad774ace2d">Turret::Periodic</a>()</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span>{</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span> <span class="keywordflow">if</span> (!m_keepingStill)</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span> {</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> m_angle = <a class="code hl_function" href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa">GetAngle</a>();</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</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> m_keepingStill = <span class="keyword">false</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> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_turret.html#ae0b01f3162930716cd54bbfbec2972fb"> 30</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#ae0b01f3162930716cd54bbfbec2972fb">Turret::Turn</a>(<span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span>{</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <a class="code hl_function" href="class_turret.html#ae34f9f1ee2bc4bf488e1543f1d47c18d">SetMotor</a>(speed);</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</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"><a class="line" href="class_turret.html#a67239926e9d9f7861ed4703d56778860"> 35</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a67239926e9d9f7861ed4703d56778860">Turret::Reset</a>()</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span>{</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> <a class="code hl_function" href="class_turret.html#a3735033e9fdac249677a315f085269cc">ResetEncoder</a>();</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <a class="code hl_function" href="class_turret.html#a64110a61bd1f885f3a41dc92856e541a">ResetAnglePID</a>();</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <a class="code hl_function" href="class_turret.html#ab15c596c80b5395d3c91de7eab59aa14">ResetAlignPID</a>();</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_turret.html#a3d89174d5a8dca20e62d28c80b250b6e"> 42</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a3d89174d5a8dca20e62d28c80b250b6e">Turret::KeepStill</a>()</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_keepingStill = <span class="keyword">true</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"> 46</span> <a class="code hl_function" href="class_turret.html#a69bdd8f0a95d6667a8d554cbea80cf1f">SetAngle</a>(m_angle);</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> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="class_turret.html#a577d4ded6aa2912c0281acd261ce4b4a"> 49</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_turret.html#a577d4ded6aa2912c0281acd261ce4b4a">Turret::Center</a>()</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"> 51</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_turret.html#a69bdd8f0a95d6667a8d554cbea80cf1f">SetAngle</a>(0);</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_turret.html#ae34f9f1ee2bc4bf488e1543f1d47c18d"> 54</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#ae34f9f1ee2bc4bf488e1543f1d47c18d">Turret::SetMotor</a>(<span class="keywordtype">double</span> speed)</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> <span class="keywordflow">if</span> (m_limitSafety)</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"> 59</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="class_turret.html#a17c79f3bd5017e8927195523b8819356">GetRightLimit</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> speed = fmin(speed, 0);</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> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="class_turret.html#a0cd77f0b81e7df1ca3a20d1ac38cf856">GetLeftLimit</a>())</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> speed = fmax(speed, 0);</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> }</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> <span class="keywordflow">if</span> (m_angleSafety)</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> <span class="keywordflow">if</span> (<a class="code hl_function" href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa">GetAngle</a>() >= <a class="code hl_variable" href="_constants_8h.html#a91a9d832d5437a6f5348cb59c300820a">k_turretMaxAngle</a>)</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> speed = fmin(speed, 0);</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> }</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa">GetAngle</a>() <= <a class="code hl_variable" href="_constants_8h.html#a4aa2a23c2abeee1db7928f8ccce0ff13">k_turretMinAngle</a>)</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> speed = fmax(speed, 0);</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"> 79</span> }</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> m_motor.Set(speed * <a class="code hl_variable" href="_constants_8h.html#ad9fb74357005b971bccf06162d4e46ef">k_turretMaxSpeed</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_turret.html#ad8a6d047f8f7b7382a4f3aae01a5c011"> 84</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_turret.html#ad8a6d047f8f7b7382a4f3aae01a5c011">Turret::GetMotor</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> <span class="keywordflow">return</span> m_motor.Get();</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_turret.html#a5717e06eca7a0fdbd9c92eb6bb7dfe81"> 89</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a5717e06eca7a0fdbd9c92eb6bb7dfe81">Turret::InvertMotor</a>(<span class="keywordtype">bool</span> inverted)</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_motor.SetInverted(inverted);</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_turret.html#af52c29af0886cca0e24c278bca72a85a"> 94</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#af52c29af0886cca0e24c278bca72a85a">Turret::PrintMotor</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> SmartDashboard::PutNumber(<span class="stringliteral">"Turret Motor"</span>, <a class="code hl_function" href="class_turret.html#ad8a6d047f8f7b7382a4f3aae01a5c011">GetMotor</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_turret.html#ae3d7d4170a7755d24b8624adec4a26db"> 99</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_turret.html#ae3d7d4170a7755d24b8624adec4a26db">Turret::GetEncoder</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> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="comment">// TODO : change if spark encoder</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"> 104</span> <span class="comment">// return m_encoder.GetPosition();</span></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> <span class="keywordflow">return</span> m_encoder.GetDistance();</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_turret.html#a3735033e9fdac249677a315f085269cc"> 109</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a3735033e9fdac249677a315f085269cc">Turret::ResetEncoder</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> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="comment">// TODO : change if spark encoder</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"> 114</span> <span class="comment">// m_encoder.SetPosition(0);</span></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> m_encoder.Reset();</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_turret.html#af07791415230178b22ba2dff75d866a7"> 119</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#af07791415230178b22ba2dff75d866a7">Turret::InvertEncoder</a>(<span class="keywordtype">bool</span> invert)</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> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="comment">// TODO : change if spark encoder</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="comment">// m_encoder.SetInverted(invert);</span></div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> m_encoder.SetReverseDirection(invert);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span>}</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="class_turret.html#ae154268736c97c75ad42dd7e73fc35f0"> 129</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#ae154268736c97c75ad42dd7e73fc35f0">Turret::PrintEncoder</a>()</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span>{</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> SmartDashboard::PutNumber(<span class="stringliteral">"Turret Encoder"</span>, <a class="code hl_function" href="class_turret.html#ae3d7d4170a7755d24b8624adec4a26db">GetEncoder</a>());</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span>}</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="class_turret.html#a69bdd8f0a95d6667a8d554cbea80cf1f"> 134</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_turret.html#a69bdd8f0a95d6667a8d554cbea80cf1f">Turret::SetAngle</a>(<span class="keywordtype">double</span> angle)</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span>{</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordflow">if</span> (angle < k_turretMaxAngle && angle > <a class="code hl_variable" href="_constants_8h.html#a4aa2a23c2abeee1db7928f8ccce0ff13">k_turretMinAngle</a>)</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> {</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> m_anglePID.SetSetpoint(angle);</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">double</span> output = m_anglePID.Calculate(<a class="code hl_function" href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa">GetAngle</a>());</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> m_motor.Set(clamp(output, -<a class="code hl_variable" href="_constants_8h.html#ad9fb74357005b971bccf06162d4e46ef">k_turretMaxSpeed</a>, <a class="code hl_variable" href="_constants_8h.html#ad9fb74357005b971bccf06162d4e46ef">k_turretMaxSpeed</a>));</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="keywordflow">return</span> m_anglePID.AtSetpoint();</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> }</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> {</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> }</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span>}</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa"> 153</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa">Turret::GetAngle</a>()</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span>{</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_turret.html#ae3d7d4170a7755d24b8624adec4a26db">GetEncoder</a>() * 360;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span>}</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="class_turret.html#a64110a61bd1f885f3a41dc92856e541a"> 158</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a64110a61bd1f885f3a41dc92856e541a">Turret::ResetAnglePID</a>()</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span>{</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> m_anglePID.Reset();</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span>}</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> </div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"><a class="line" href="class_turret.html#a8e9064e74fda14f1dc9a0958503d752a"> 163</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a8e9064e74fda14f1dc9a0958503d752a">Turret::PrintAngle</a>()</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span>{</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> SmartDashboard::PutNumber(<span class="stringliteral">"Turret Angle"</span>, <a class="code hl_function" href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa">GetAngle</a>());</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span>}</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="class_turret.html#aa811c66bcde148e0e44b9010c596eea8"> 168</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#aa811c66bcde148e0e44b9010c596eea8">Turret::PrintAnglePIDError</a>()</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span>{</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> SmartDashboard::PutNumber(<span class="stringliteral">"Turret Angle PID Error"</span>, m_anglePID.GetPositionError());</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span>}</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="class_turret.html#ade826b7d94686eb26a22240e6bf5cef5"> 173</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_turret.html#ade826b7d94686eb26a22240e6bf5cef5">Turret::Align</a>()</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span>{</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> m_alignPID.SetSetpoint(0);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordtype">double</span> output = m_alignPID.Calculate(-m_limelight.<a class="code hl_function" href="class_limelight.html#ab7d744c9a6d457f9a5ed8b98d5ecdf79">GetHorizontalAngle</a>());</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> </div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> m_motor.Set(clamp(output, -<a class="code hl_variable" href="_constants_8h.html#ad9fb74357005b971bccf06162d4e46ef">k_turretMaxSpeed</a>, <a class="code hl_variable" href="_constants_8h.html#ad9fb74357005b971bccf06162d4e46ef">k_turretMaxSpeed</a>));</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordflow">return</span> m_alignPID.AtSetpoint();</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span>}</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="class_turret.html#ab15c596c80b5395d3c91de7eab59aa14"> 184</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#ab15c596c80b5395d3c91de7eab59aa14">Turret::ResetAlignPID</a>()</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span>{</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> m_alignPID.Reset();</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span>}</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> </div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="class_turret.html#a0ed916a9383e4dd28e6d95ba4629fc2f"> 189</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a0ed916a9383e4dd28e6d95ba4629fc2f">Turret::PrintAlignPIDError</a>()</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span>{</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> SmartDashboard::PutNumber(<span class="stringliteral">"Turret Align PID Error"</span>, m_alignPID.GetPositionError());</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span>}</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="class_turret.html#a17c79f3bd5017e8927195523b8819356"> 194</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_turret.html#a17c79f3bd5017e8927195523b8819356">Turret::GetRightLimit</a>()</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span>{</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordflow">return</span> m_limitSwitchRight.Get();</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span>}</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="class_turret.html#a0cd77f0b81e7df1ca3a20d1ac38cf856"> 199</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_turret.html#a0cd77f0b81e7df1ca3a20d1ac38cf856">Turret::GetLeftLimit</a>()</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span>{</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordflow">return</span> m_limitSwitchLeft.Get();</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span>}</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"><a class="line" href="class_turret.html#a696d8b95e79c9093d7fa41a5dfd584a8"> 204</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a696d8b95e79c9093d7fa41a5dfd584a8">Turret::PrintLimits</a>()</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span>{</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> SmartDashboard::PutBoolean(<span class="stringliteral">"Turret Right Limit"</span>, <a class="code hl_function" href="class_turret.html#a17c79f3bd5017e8927195523b8819356">GetRightLimit</a>());</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> SmartDashboard::PutBoolean(<span class="stringliteral">"Turret Left Limit"</span>, <a class="code hl_function" href="class_turret.html#a0cd77f0b81e7df1ca3a20d1ac38cf856">GetLeftLimit</a>());</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span>}</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="class_turret.html#a9237ad362784e3950e9057746fa43797"> 210</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a9237ad362784e3950e9057746fa43797">Turret::SetAngleSafetyActive</a>(<span class="keywordtype">bool</span> active)</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span>{</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> m_angleSafety = active;</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span>}</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"><a class="line" href="class_turret.html#a86ec06bd5b2f24bab0360c8c0661f66f"> 215</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_turret.html#a86ec06bd5b2f24bab0360c8c0661f66f">Turret::SetLimitSafetyActive</a>(<span class="keywordtype">bool</span> active)</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span>{</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> m_limitSafety = active;</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span>}</div>
<div class="ttc" id="a_constants_8h_html_a4aa2a23c2abeee1db7928f8ccce0ff13"><div class="ttname"><a href="_constants_8h.html#a4aa2a23c2abeee1db7928f8ccce0ff13">k_turretMinAngle</a></div><div class="ttdeci">constexpr double k_turretMinAngle</div><div class="ttdef"><b>Definition:</b> <a href="_constants_8h_source.html#l00123">Constants.h:123</a></div></div>
<div class="ttc" id="a_constants_8h_html_a91a9d832d5437a6f5348cb59c300820a"><div class="ttname"><a href="_constants_8h.html#a91a9d832d5437a6f5348cb59c300820a">k_turretMaxAngle</a></div><div class="ttdeci">constexpr double k_turretMaxAngle</div><div class="ttdef"><b>Definition:</b> <a href="_constants_8h_source.html#l00122">Constants.h:122</a></div></div>
<div class="ttc" id="a_constants_8h_html_ad2febd1e9c2b24234d9cc6dc47bc1a0b"><div class="ttname"><a href="_constants_8h.html#ad2febd1e9c2b24234d9cc6dc47bc1a0b">k_turretAlignPIDTolerance</a></div><div class="ttdeci">constexpr double k_turretAlignPIDTolerance</div><div class="ttdef"><b>Definition:</b> <a href="_constants_8h_source.html#l00086">Constants.h:86</a></div></div>
<div class="ttc" id="a_constants_8h_html_ad9fb74357005b971bccf06162d4e46ef"><div class="ttname"><a href="_constants_8h.html#ad9fb74357005b971bccf06162d4e46ef">k_turretMaxSpeed</a></div><div class="ttdeci">constexpr double k_turretMaxSpeed</div><div class="ttdef"><b>Definition:</b> <a href="_constants_8h_source.html#l00115">Constants.h:115</a></div></div>
<div class="ttc" id="a_constants_8h_html_aef024814b64dbe1bdc664c482f57783f"><div class="ttname"><a href="_constants_8h.html#aef024814b64dbe1bdc664c482f57783f">k_turretDPR</a></div><div class="ttdeci">constexpr double k_turretDPR</div><div class="ttdef"><b>Definition:</b> <a href="_constants_8h_source.html#l00102">Constants.h:102</a></div></div>
<div class="ttc" id="a_constants_8h_html_af22e9db8e6f7fe002cc20603d4a9475e"><div class="ttname"><a href="_constants_8h.html#af22e9db8e6f7fe002cc20603d4a9475e">k_turretAnglePIDTolerance</a></div><div class="ttdeci">constexpr double k_turretAnglePIDTolerance</div><div class="ttdef"><b>Definition:</b> <a href="_constants_8h_source.html#l00091">Constants.h:91</a></div></div>
<div class="ttc" id="a_turret_8h_html"><div class="ttname"><a href="_turret_8h.html">Turret.h</a></div></div>
<div class="ttc" id="aclass_limelight_html_ab7d744c9a6d457f9a5ed8b98d5ecdf79"><div class="ttname"><a href="class_limelight.html#ab7d744c9a6d457f9a5ed8b98d5ecdf79">Limelight::GetHorizontalAngle</a></div><div class="ttdeci">double GetHorizontalAngle()</div><div class="ttdef"><b>Definition:</b> <a href="_limelight_8cpp_source.html#l00017">Limelight.cpp:17</a></div></div>
<div class="ttc" id="aclass_turret_html_a0cd77f0b81e7df1ca3a20d1ac38cf856"><div class="ttname"><a href="class_turret.html#a0cd77f0b81e7df1ca3a20d1ac38cf856">Turret::GetLeftLimit</a></div><div class="ttdeci">bool GetLeftLimit()</div><div class="ttdoc">Checks if the turret is at the left limit.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00199">Turret.cpp:199</a></div></div>
<div class="ttc" id="aclass_turret_html_a0ed916a9383e4dd28e6d95ba4629fc2f"><div class="ttname"><a href="class_turret.html#a0ed916a9383e4dd28e6d95ba4629fc2f">Turret::PrintAlignPIDError</a></div><div class="ttdeci">void PrintAlignPIDError()</div><div class="ttdoc">Publishes the alignPID error on the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00189">Turret.cpp:189</a></div></div>
<div class="ttc" id="aclass_turret_html_a17c79f3bd5017e8927195523b8819356"><div class="ttname"><a href="class_turret.html#a17c79f3bd5017e8927195523b8819356">Turret::GetRightLimit</a></div><div class="ttdeci">bool GetRightLimit()</div><div class="ttdoc">Checks if the turret is at the right limit.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00194">Turret.cpp:194</a></div></div>
<div class="ttc" id="aclass_turret_html_a3735033e9fdac249677a315f085269cc"><div class="ttname"><a href="class_turret.html#a3735033e9fdac249677a315f085269cc">Turret::ResetEncoder</a></div><div class="ttdeci">void ResetEncoder()</div><div class="ttdoc">Sets the current encoder value to 0.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00109">Turret.cpp:109</a></div></div>
<div class="ttc" id="aclass_turret_html_a3d89174d5a8dca20e62d28c80b250b6e"><div class="ttname"><a href="class_turret.html#a3d89174d5a8dca20e62d28c80b250b6e">Turret::KeepStill</a></div><div class="ttdeci">void KeepStill()</div><div class="ttdoc">Keeps the turret at the current angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00042">Turret.cpp:42</a></div></div>
<div class="ttc" id="aclass_turret_html_a5717e06eca7a0fdbd9c92eb6bb7dfe81"><div class="ttname"><a href="class_turret.html#a5717e06eca7a0fdbd9c92eb6bb7dfe81">Turret::InvertMotor</a></div><div class="ttdeci">void InvertMotor(bool)</div><div class="ttdoc">Invert motor direction.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00089">Turret.cpp:89</a></div></div>
<div class="ttc" id="aclass_turret_html_a577d4ded6aa2912c0281acd261ce4b4a"><div class="ttname"><a href="class_turret.html#a577d4ded6aa2912c0281acd261ce4b4a">Turret::Center</a></div><div class="ttdeci">bool Center()</div><div class="ttdoc">Sets the turret to angle 0.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00049">Turret.cpp:49</a></div></div>
<div class="ttc" id="aclass_turret_html_a64110a61bd1f885f3a41dc92856e541a"><div class="ttname"><a href="class_turret.html#a64110a61bd1f885f3a41dc92856e541a">Turret::ResetAnglePID</a></div><div class="ttdeci">void ResetAnglePID()</div><div class="ttdoc">Resets the PID controller for setting angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00158">Turret.cpp:158</a></div></div>
<div class="ttc" id="aclass_turret_html_a67239926e9d9f7861ed4703d56778860"><div class="ttname"><a href="class_turret.html#a67239926e9d9f7861ed4703d56778860">Turret::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00035">Turret.cpp:35</a></div></div>
<div class="ttc" id="aclass_turret_html_a696d8b95e79c9093d7fa41a5dfd584a8"><div class="ttname"><a href="class_turret.html#a696d8b95e79c9093d7fa41a5dfd584a8">Turret::PrintLimits</a></div><div class="ttdeci">void PrintLimits()</div><div class="ttdoc">Publish limit values to the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00204">Turret.cpp:204</a></div></div>
<div class="ttc" id="aclass_turret_html_a69bdd8f0a95d6667a8d554cbea80cf1f"><div class="ttname"><a href="class_turret.html#a69bdd8f0a95d6667a8d554cbea80cf1f">Turret::SetAngle</a></div><div class="ttdeci">bool SetAngle(double)</div><div class="ttdoc">Sets the turret to a specific angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00134">Turret.cpp:134</a></div></div>
<div class="ttc" id="aclass_turret_html_a716b97b5618cc59c9b095954f92fd47c"><div class="ttname"><a href="class_turret.html#a716b97b5618cc59c9b095954f92fd47c">Turret::Turret</a></div><div class="ttdeci">Turret()</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00005">Turret.cpp:5</a></div></div>
<div class="ttc" id="aclass_turret_html_a86ec06bd5b2f24bab0360c8c0661f66f"><div class="ttname"><a href="class_turret.html#a86ec06bd5b2f24bab0360c8c0661f66f">Turret::SetLimitSafetyActive</a></div><div class="ttdeci">void SetLimitSafetyActive(bool)</div><div class="ttdoc">Enables safety with limits.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00215">Turret.cpp:215</a></div></div>
<div class="ttc" id="aclass_turret_html_a8e9064e74fda14f1dc9a0958503d752a"><div class="ttname"><a href="class_turret.html#a8e9064e74fda14f1dc9a0958503d752a">Turret::PrintAngle</a></div><div class="ttdeci">void PrintAngle()</div><div class="ttdoc">Publishes the turret's current angle on the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00163">Turret.cpp:163</a></div></div>
<div class="ttc" id="aclass_turret_html_a9237ad362784e3950e9057746fa43797"><div class="ttname"><a href="class_turret.html#a9237ad362784e3950e9057746fa43797">Turret::SetAngleSafetyActive</a></div><div class="ttdeci">void SetAngleSafetyActive(bool)</div><div class="ttdoc">Enables safety with encoder.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00210">Turret.cpp:210</a></div></div>
<div class="ttc" id="aclass_turret_html_a9a955b5d8d8569b9059dbf98db7be6aa"><div class="ttname"><a href="class_turret.html#a9a955b5d8d8569b9059dbf98db7be6aa">Turret::GetAngle</a></div><div class="ttdeci">double GetAngle()</div><div class="ttdoc">Gets the turret's current angle.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00153">Turret.cpp:153</a></div></div>
<div class="ttc" id="aclass_turret_html_aa811c66bcde148e0e44b9010c596eea8"><div class="ttname"><a href="class_turret.html#aa811c66bcde148e0e44b9010c596eea8">Turret::PrintAnglePIDError</a></div><div class="ttdeci">void PrintAnglePIDError()</div><div class="ttdoc">Publishes the anglepid error on the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00168">Turret.cpp:168</a></div></div>
<div class="ttc" id="aclass_turret_html_ab15c596c80b5395d3c91de7eab59aa14"><div class="ttname"><a href="class_turret.html#ab15c596c80b5395d3c91de7eab59aa14">Turret::ResetAlignPID</a></div><div class="ttdeci">void ResetAlignPID()</div><div class="ttdoc">Resets the PID controller for aligning to target.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00184">Turret.cpp:184</a></div></div>
<div class="ttc" id="aclass_turret_html_ad8a6d047f8f7b7382a4f3aae01a5c011"><div class="ttname"><a href="class_turret.html#ad8a6d047f8f7b7382a4f3aae01a5c011">Turret::GetMotor</a></div><div class="ttdeci">double GetMotor()</div><div class="ttdoc">Gets the Motor speed.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00084">Turret.cpp:84</a></div></div>
<div class="ttc" id="aclass_turret_html_ade826b7d94686eb26a22240e6bf5cef5"><div class="ttname"><a href="class_turret.html#ade826b7d94686eb26a22240e6bf5cef5">Turret::Align</a></div><div class="ttdeci">bool Align()</div><div class="ttdoc">Aligns the turret to the target.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00173">Turret.cpp:173</a></div></div>
<div class="ttc" id="aclass_turret_html_ae0b01f3162930716cd54bbfbec2972fb"><div class="ttname"><a href="class_turret.html#ae0b01f3162930716cd54bbfbec2972fb">Turret::Turn</a></div><div class="ttdeci">void Turn(double)</div><div class="ttdoc">Turns the turret.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00030">Turret.cpp:30</a></div></div>
<div class="ttc" id="aclass_turret_html_ae154268736c97c75ad42dd7e73fc35f0"><div class="ttname"><a href="class_turret.html#ae154268736c97c75ad42dd7e73fc35f0">Turret::PrintEncoder</a></div><div class="ttdeci">void PrintEncoder()</div><div class="ttdoc">Publishes the encoder's value on the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00129">Turret.cpp:129</a></div></div>
<div class="ttc" id="aclass_turret_html_ae34f9f1ee2bc4bf488e1543f1d47c18d"><div class="ttname"><a href="class_turret.html#ae34f9f1ee2bc4bf488e1543f1d47c18d">Turret::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="_turret_8cpp_source.html#l00054">Turret.cpp:54</a></div></div>
<div class="ttc" id="aclass_turret_html_ae3d7d4170a7755d24b8624adec4a26db"><div class="ttname"><a href="class_turret.html#ae3d7d4170a7755d24b8624adec4a26db">Turret::GetEncoder</a></div><div class="ttdeci">double GetEncoder()</div><div class="ttdoc">Gets the encoder value.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00099">Turret.cpp:99</a></div></div>
<div class="ttc" id="aclass_turret_html_ae6438eb6ae5ec2be9346b5ad774ace2d"><div class="ttname"><a href="class_turret.html#ae6438eb6ae5ec2be9346b5ad774ace2d">Turret::Periodic</a></div><div class="ttdeci">void Periodic() override</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00019">Turret.cpp:19</a></div></div>
<div class="ttc" id="aclass_turret_html_af07791415230178b22ba2dff75d866a7"><div class="ttname"><a href="class_turret.html#af07791415230178b22ba2dff75d866a7">Turret::InvertEncoder</a></div><div class="ttdeci">void InvertEncoder(bool)</div><div class="ttdoc">Invert encoder direction.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00119">Turret.cpp:119</a></div></div>
<div class="ttc" id="aclass_turret_html_af52c29af0886cca0e24c278bca72a85a"><div class="ttname"><a href="class_turret.html#af52c29af0886cca0e24c278bca72a85a">Turret::PrintMotor</a></div><div class="ttdeci">void PrintMotor()</div><div class="ttdoc">Publishes the motor's value on the SmartDashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_turret_8cpp_source.html#l00094">Turret.cpp:94</a></div></div>
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