RobotArms.h

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#ifndef ROBOTARMS_H_
#define ROBOTARMS_H_

#include <RobotComponent.h>

class RobotArms: public RobotComponent {
public:

    virtual void ComponentInit();

    virtual void Sense();

    virtual void DoWork();

    void CalibrateArms();

    RobotArms();
    virtual ~RobotArms();
private:
    Joystick* m_ControlStick; 
    DoubleSolenoid* m_DoubleSolenoid; 
    Victor* m_ArmMotor; 
    DigitalInput* m_TopLimit;
    DigitalInput* m_BottomLimit;
    DigitalInput* m_Limit;
    Encoder* m_DriveCounter;

    const int kStickChannel = 1; 
    const int kSolenoidChannel1 = 0; 
    const int kSolenoidChannel2 = 1; 
    const int kArmMotorChannel = 5; 

    const int kLimitChannel = 0;
    const int kTopLimitChannel = 1;
    const int kEncoderchannel1 = 4;
    const int kEncoderchannel2 = 5;
    const int kBottomLimitChannel = 6;



    const float k_lifterDistancePerPulse = 0.0; // test to get this value
    const float k_driverDistancePerPulse = 0.0;

    float k_minCount; 
    float k_maxCount; 
    int liftSpeed; 
    bool openArms; 

};

#endif /* ROBOTARMS_H_ */