Put ClawHAL into RobotControlData.h

FRC830 · Nov 24, 2024 · 53decf8 · 53decf8
1 parent 25a8d26
commit 53decf8
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/src/main/include/RobotControlData.h b/src/main/include/RobotControlData.h
@@ -9,11 +9,23 @@ struct SwerveInput{
 
 struct ClawInput
 {
+        void  ManualMovePivot(double speed);
+        double  GetAngle(); 
+        void  ProfiledMoveToAngle(double angle);
+        double  GetSpeed();
+        double  SetPosition();
+        void  PublishDebugInfo();
+        void  ResetProfiledMoveState();
+
     // TODO - define members
 };
 
 struct ClawOutput
 {
+        double  GetAngle();
+        double  GetSpeed();
+        double  SetPosition();
+
     // TODO - define members
 };
 

diff --git a/src/main/include/subsystems/ClawHAL.h b/src/main/include/subsystems/ClawHAL.h
@@ -10,7 +10,7 @@
 #include <frc/trajectory/TrapezoidProfile.h>
 
 class ClawHAL
-{
+{ 
 private:
  double m_intakeSpeed = 0.0;
 
@@ -21,7 +21,7 @@ class ClawHAL
         double  GetAngle(); 
         void  ProfiledMoveToAngle(double angle);
         double  GetSpeed();
-        void  SetPosition();
+        double  SetPosition();
         void  PublishDebugInfo();
         void  ResetProfiledMoveState(); 
 };