Leg Class Reference

#include <Leg.h>

Inheritance diagram for Leg:

Public Member Functions
	Leg (void)
	Construct a new Leg object. More...
void	InitDefaultCommand () override
	Who uses this? You dont need to. More...
void	MoveLeg (double Speed)
	Move climb leg up or down. More...
bool	AtTop (void)
	Returns whether the legs are at the top most position. More...
bool	AtMiddle (void)
	Returns whether the legs are at the middle position. More...
bool	AtBottom (void)
	Returns whether the legs are at the bottom most position. More...

Private Attributes
can::WPI_TalonSRX *	pLegMotor
	Pointer for the climb leg motor Works off a winch system to pull up and down But is used like a talon motor. More...
frc::DigitalInput *	pTopHall
	Sensor for when the leg is as far up as it can go If this sensor is tripped, the legs are above the wheels and it is now safe to drive. More...
frc::DigitalInput *	pMiddleHall
	Sensor for when the leg is at the middle position If this sensor is tripped, the robot is above the low raised platform. More...
frc::DigitalInput *	pBottomHall
	Sensor for when the leg is as far down as it can go If this sensor is tripped, the robot is above the highest platform. More...

Detailed Description

Definition at line 10 of file Leg.h.

Constructor & Destructor Documentation

Leg()

Leg::Leg

(

void

)

Construct a new Leg object.

Definition at line 3 of file Leg.cpp.

Member Function Documentation

AtBottom()

bool Leg::AtBottom

(

void

)

Returns whether the legs are at the bottom most position.

Returns

true Sensor is tripped, we are at the bottom

false Sensor is not tripped, we are not at the bottom

Definition at line 42 of file Leg.cpp.

AtMiddle()

bool Leg::AtMiddle

(

void

)

Returns whether the legs are at the middle position.

Returns

true Sensor is tripped, we are at the middle

false Sensor is not tripped, we are not at the middle

Definition at line 37 of file Leg.cpp.

AtTop()

bool Leg::AtTop

(

void

)

Returns whether the legs are at the top most position.

Returns

true Sensor is tripped, we are at the top

false Sensor is not tripped, we are not at the top

Definition at line 32 of file Leg.cpp.

InitDefaultCommand()

void Leg::InitDefaultCommand ( )

override

Who uses this? You dont need to.

Definition at line 18 of file Leg.cpp.

MoveLeg()

void Leg::MoveLeg

(

double

Speed

)

Move climb leg up or down.

Parameters

Speed

range:(-1.00, 1.00) where 1.00 or 100% is upwards

Definition at line 23 of file Leg.cpp.

Member Data Documentation

pBottomHall

frc::DigitalInput* Leg::pBottomHall

private

Sensor for when the leg is as far down as it can go If this sensor is tripped, the robot is above the highest platform.

Remarks

When moving the leg down, stop when this gets tripped

Definition at line 78 of file Leg.h.

pLegMotor

can::WPI_TalonSRX* Leg::pLegMotor

private

Pointer for the climb leg motor Works off a winch system to pull up and down But is used like a talon motor.

Definition at line 57 of file Leg.h.

pMiddleHall

frc::DigitalInput* Leg::pMiddleHall

private

Sensor for when the leg is at the middle position If this sensor is tripped, the robot is above the low raised platform.

Definition at line 71 of file Leg.h.

pTopHall

frc::DigitalInput* Leg::pTopHall

private

Sensor for when the leg is as far up as it can go If this sensor is tripped, the legs are above the wheels and it is now safe to drive.

Remarks

When moving the leg up, stop when this gets tripped

Definition at line 65 of file Leg.h.

---

The documentation for this class was generated from the following files:

• src/main/include/Subsystems/Leg.h
• src/main/cpp/Subsystems/Leg.cpp