RA12_RobotCode/CowCatcher.h at main · RAR1741/RA12_RobotCode · GitHub

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#ifndef COW_CATCHER_H__
#define COW_CATCHER_H__
#include "DoubleSolenoid.h"
#include <iostream>
#include <fstream>
#include "DigitalInput.h"
#include "Solenoid.h"

class CowCatcher{
public:
	CowCatcher(
			int updownnum_forward,
			int updownnum_reverse,
			int Lock_forward,
			int Lock_reverse,
			int downPosIO,
			int upPosIO,
			int lockedIO,
			int unlockedIO);

	// Note: Only call RaiseLower or ManualOperate,
	// not both!
	void RaiseLower(bool sw);

	void ManualOperate(	bool should_raise,
						bool should_lower,
						bool should_lock,
						bool should_unlock );
	void LogHeaders(ofstream &fout);
	void Log(ofstream &fout);

	void lock();
	void unlock();
private:
	DoubleSolenoid * UpDown;
	DoubleSolenoid * Lock;

	DigitalInput * downPos;
	DigitalInput * upPos;
	DigitalInput * locked1;
	DigitalInput * locked2;

	int m_state;
};

#endif