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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<div id="projectname">TecDroid Template<span id="projectnumber"> 2.0.1</span>
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<div id="projectbrief">FRC team 3354 template code by Esteban Padilla Cerdio</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: esteban37padilla@gmail.com</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><span class="preprocessor">#include "subsystems/Limelight.h"</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include "subsystems/SolenoidSubsystem.h"</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <frc/Servo.h></span></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><span class="keyword">namespace </span>TecDroid</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_shooter_base.html"> 36</a></span> <span class="keyword">class </span><a class="code hl_class" href="class_tec_droid_1_1_shooter_base.html">ShooterBase</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_tec_droid_1_1_encoder_subsystem.html">EncoderSubsystem</a>, <span class="keyword">public</span> <a class="code hl_class" href="class_tec_droid_1_1_solenoid_subsystem.html">SolenoidSubsystem</a></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> </div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#ae668ffdaaf4c04b58e2f442ae6ec0a95">ShooterBase</a>(MotorConfig, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#ae668ffdaaf4c04b58e2f442ae6ec0a95">ShooterBase</a>(MotorConfig, EncoderConfig, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#ae668ffdaaf4c04b58e2f442ae6ec0a95">ShooterBase</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="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">void</span> Periodic() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#a1f48a25f965dd85d0b616728fb9389bd">Reset</a>();</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="comment">// ---------- Actions -----------</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#afa971833ea39028d0f6eff6a5126a630">Shoot</a>();</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> <span class="comment">// --------- Angle with Servos --------</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#a3ff13827abe1c3d52408fded20993c29">SetAngleServos</a>(<span class="keywordtype">double</span>);</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#aa018828e04c6ed5f1535275d5e7f4b61">ConfigureServos</a>(<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="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#a4fee9a017f7cfcb62dc977c94db26c81">ResetServos</a>();</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#aa5b589220b96220100d9f0f73fda9989">GetRightServo</a>();</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</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_shooter_base.html#acca20b5d3dcd8e2e6085f6b9c9b0fc8a">GetLeftServo</a>();</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#a88e2f7f4a76c065d9a6a66337b075968">PrintServos</a>();</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#a158feaf5031150039c31eb8ea3dc459e">CalculateRPM</a>();</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_shooter_base.html#a4974c71b9d1772ba718da4ce1d284de0"> 131</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_shooter_base.html#a4974c71b9d1772ba718da4ce1d284de0">SetRPMCalculationFunction</a>(<span class="keywordtype">double</span> (*func)(<span class="keywordtype">double</span>));</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> <span class="comment">// ---------- Components ----------</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> </div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> Servo *m_rightServo;</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> Servo *m_leftServo;</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> <a class="code hl_class" href="class_tec_droid_1_1_limelight.html">Limelight</a> m_limelight;</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="keyword">protected</span>:</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> double (*m_rpmCalculationFunction)(double);</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> };</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span>}</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>
<div class="ttc" id="aclass_tec_droid_1_1_limelight_html"><div class="ttname"><a href="class_tec_droid_1_1_limelight.html">TecDroid::Limelight</a></div><div class="ttdef"><b>Definition:</b> <a href="_limelight_8h_source.html#l00040">Limelight.h:41</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html">TecDroid::ShooterBase</a></div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8h_source.html#l00036">ShooterBase.h:37</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_a158feaf5031150039c31eb8ea3dc459e"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#a158feaf5031150039c31eb8ea3dc459e">TecDroid::ShooterBase::CalculateRPM</a></div><div class="ttdeci">double CalculateRPM()</div><div class="ttdoc">Calculates the required RPM to shoot at the current distance.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00058">ShooterBase.cpp:58</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_a1f48a25f965dd85d0b616728fb9389bd"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#a1f48a25f965dd85d0b616728fb9389bd">TecDroid::ShooterBase::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdoc">Resets the encoder and speed PID.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00050">ShooterBase.cpp:50</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_a3ff13827abe1c3d52408fded20993c29"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#a3ff13827abe1c3d52408fded20993c29">TecDroid::ShooterBase::SetAngleServos</a></div><div class="ttdeci">void SetAngleServos(double)</div><div class="ttdoc">Sets the shooting angle by using servos.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00063">ShooterBase.cpp:63</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_a4974c71b9d1772ba718da4ce1d284de0"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#a4974c71b9d1772ba718da4ce1d284de0">TecDroid::ShooterBase::SetRPMCalculationFunction</a></div><div class="ttdeci">void SetRPMCalculationFunction(double(*func)(double))</div><div class="ttdoc">Sets the function that will be used to calculate rpm according to distance.</div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_a4fee9a017f7cfcb62dc977c94db26c81"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#a4fee9a017f7cfcb62dc977c94db26c81">TecDroid::ShooterBase::ResetServos</a></div><div class="ttdeci">void ResetServos()</div><div class="ttdoc">Resets the angle servos to 0.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00069">ShooterBase.cpp:69</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_a88e2f7f4a76c065d9a6a66337b075968"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#a88e2f7f4a76c065d9a6a66337b075968">TecDroid::ShooterBase::PrintServos</a></div><div class="ttdeci">void PrintServos()</div><div class="ttdoc">Prints the length of the servos to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00091">ShooterBase.cpp:91</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_aa018828e04c6ed5f1535275d5e7f4b61"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#aa018828e04c6ed5f1535275d5e7f4b61">TecDroid::ShooterBase::ConfigureServos</a></div><div class="ttdeci">void ConfigureServos(unsigned int, unsigned int)</div><div class="ttdoc">Configure angle servo's ports.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00075">ShooterBase.cpp:75</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_aa5b589220b96220100d9f0f73fda9989"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#aa5b589220b96220100d9f0f73fda9989">TecDroid::ShooterBase::GetRightServo</a></div><div class="ttdeci">double GetRightServo()</div><div class="ttdoc">Gets the length of the right servo.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00081">ShooterBase.cpp:81</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_acca20b5d3dcd8e2e6085f6b9c9b0fc8a"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#acca20b5d3dcd8e2e6085f6b9c9b0fc8a">TecDroid::ShooterBase::GetLeftServo</a></div><div class="ttdeci">double GetLeftServo()</div><div class="ttdoc">Gets the length of the left servo.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00086">ShooterBase.cpp:86</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_ae668ffdaaf4c04b58e2f442ae6ec0a95"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#ae668ffdaaf4c04b58e2f442ae6ec0a95">TecDroid::ShooterBase::ShooterBase</a></div><div class="ttdeci">ShooterBase(MotorConfig, unsigned int)</div><div class="ttdoc">Construct a new ShooterBase object without encoder.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00031">ShooterBase.cpp:31</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_shooter_base_html_afa971833ea39028d0f6eff6a5126a630"><div class="ttname"><a href="class_tec_droid_1_1_shooter_base.html#afa971833ea39028d0f6eff6a5126a630">TecDroid::ShooterBase::Shoot</a></div><div class="ttdeci">void Shoot()</div><div class="ttdoc">Sets shooter to full speed.</div><div class="ttdef"><b>Definition:</b> <a href="_shooter_base_8cpp_source.html#l00097">ShooterBase.cpp:97</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>
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