Add hook reset

.gitignore

@@ -1,17 +1,27 @@
-# Compiled Object files
-*.o
-*.obj
-
-# Executables
-*.bin
-*.elf
-
-# PROS
-bin/
-.vscode/
-.cache/
-compile_commands.json
-temp.log
-temp.errors
-*.ini
-.d/
+# Compiled Object files
+*.o
+*.obj
+
+# Executables
+*.bin
+*.elf
+
+# PROS
+bin/
+.vscode/
+.lapce/
+.cache/
+compile_commands.json
+temp.log
+temp.errors
+*.ini
+firmware/
+.d/
+
+# Vale
+!.vale.ini
+vale-styles
+styles/
+
+# Doxygen
+html/

include/globals.h

@@ -2,6 +2,7 @@
 
 #include "api.h"
 #include "lemlib/api.hpp"
+#include "pros/adi.hpp"
 #include "pros/vision.hpp"
 
 // The following files are imported in order to provide type definitions into
@@ -70,6 +71,9 @@ extern pros::vision_signature_s_t BLUE_DARK_SIG;
 
 extern pros::Rotation lateral_sensor;
 extern pros::Rotation horizontal_sensor;
+
+extern pros::Distance distance_sensor; 
+
 // forward/backward PID
 extern lemlib::ControllerSettings lateral_controller;
 
@@ -88,6 +92,7 @@ extern lemlib::ExpoDriveCurve steer_curve;
 
 extern pros::adi::DigitalIn drivetrainToggleSwitch;
 extern pros::adi::DigitalIn autonToggleSwitch;
+extern pros::adi::DigitalIn hookSwitch;
 
 extern pros::adi::Pneumatics LatchControl;
 extern pros::adi::Pneumatics HangControl;

include/robot/intake.h

@@ -17,7 +17,7 @@ class Intake {
 
    /**
     * @brief Checks whether the intake should stop to skip the ring depending on color.
-    * It is the embodiment of vision sensor usage in this codebase.
+    * It's the embodiment of vision sensor usage in this codebase.
     */
    void checkStop();
 
@@ -35,5 +35,13 @@ class Intake {
     * @brief blue is false, red is true.
     */
    bool alliance_color;
+
+   /**
+    * @brief Runs the hook subsystem.
+    * This function checks if a ring is present near the hook using a limit
+    * switch before activating it for one revolution.
+    */
+
+   void spinHook();
 };
 } // namespace Robot