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Copy pathHardware.h
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Hardware.h
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#ifndef HARDWARE_H__
#define HARDWARE_H__
#include "WPILib.h"
#include "CANJaguar.h"
#include "LimitSwitch.h"
#include "GearTooth.h"
#include "RAGearToothSensor.h"
#include "Potentiometer.h"
#include "SonarSensor.h"
#include "DeployerSolenoid.h"
class Hardware
{
private:
Hardware() {} // Private
static CANJaguar * m_left_jag1;
static CANJaguar * m_right_jag1;
static CANJaguar * m_left_jag2;
static CANJaguar * m_right_jag2;
static DigitalInput * right_line_sensor;
static DigitalInput * center_line_sensor;
static DigitalInput * left_line_sensor;
static Solenoid * m_sol;
static CANJaguar * m_motors[12];
static Servo * m_alignment_releaser;
static LimitSwitch * m_gripper_limit;
static Encoder * left_encoder;
static Encoder * right_encoder;
static RAGearToothSensor * m_shuttle_geartooth_encoder;
static DigitalInput * m_shuttle_home;
static Potentiometer * m_arm_pot;
static GearTooth * ShuttleTooth;
static Gyro * gyro;
static Accelerometer * accelX;
static Accelerometer * accelY;
static Accelerometer * accelZ;
static DigitalOutput * m_signal_do1;
static DigitalOutput * m_signal_do2;
static DigitalOutput * m_signal_do3;
static DigitalInput * m_deployer_optical;
static SonarSensor * m_sonar; // PONG
static Solenoid * m_deploy_solenoids[4];
static CANJaguar * AllocateDriveMotor(int number);
static CANJaguar * AllocatePositionMotor(int number);
static CANJaguar * AllocateGrabberMotor(int number);
static CANJaguar * AllocateDeployerMotor(int number);
static void ConfigureForSpeedControl(CANJaguar *motor);
static void InitAccel(Accelerometer * a);
public:
static Solenoid * GetLineSensorPower();
static CANJaguar * GetLeftMotorJag();
static CANJaguar * GetLeftMotorJag2();
static CANJaguar * GetRightMotorJag();
static CANJaguar * GetRightMotorJag2();
static CANJaguar * GetUpperGrabberMotor();
static CANJaguar * GetLowerGrabberMotor();
static CANJaguar * GetArmMotor();
static CANJaguar * GetDeployerMotor();
static Accelerometer * GetAccelX();
static Accelerometer* GetAccelY();
static Accelerometer * GetAccelZ();
static Servo * GetAlignmentReleaser();
static DigitalInput * GetLeftLineSensor();
static CANJaguar * GetMotor(int i);
static DigitalInput * GetCenterLineSensor();
static DigitalInput * GetRightLineSensor();
static Encoder * GetLeftEncoder();
static Encoder * GetRightEncoder();
static CANJaguar * GetShuttleMotor();
static RAGearToothSensor * GetShuttleGearToothSensor();
static DigitalInput * GetShuttleHomeSensor();
static LimitSwitch * GetGripperLimitSwitch();
static Potentiometer * GetArmPotentiometer();
static Gyro * GetGyro();
static DigitalOutput * GetSignalDO1();
static DigitalOutput * GetSignalDO2();
static DigitalOutput * GetSignalDO3();
static void ReConfigureDriveMotors();
static DigitalInput * GetDeployerOpticalSensor();
static SonarSensor * GetSonarSensor();
//static DeployerSolenoid * GetDeployerSolenoid();
static Solenoid * GetDeployerSolenoid(int num);
};
#endif