We have to know how to get the spike to run both directions right now we only have it set to run one direction we have tried everything please help
#include "../Robotmap.h"
Sweeper::Sweeper() : Subsystem("Sweeper") {
relay = new Relay(SWEEPER_RELAY, Relay::kBothDirections);
isIn = true;
isOn = true;
}
// No default command defined for Conveyor.
void Sweeper::InitDefaultCommand() {}
// Start running the instance with the current state
void Sweeper::run() {
if( isOn ) {
if( isIn ) {
relay->Set(Relay::kForward);
}
else {
relay->Set(Relay::kReverse);
}
}
else {
relay->Set(Relay::kOff);
#ifndef SWEEPER_H
#define SWEEPER_H
#include "Commands/Subsystem.h"
#include "WPILib.h"
/*
* Interface for Sweeper that will take balls from the floor into robot.
*
* Hardware:
* - Relay
* States:
* - on/off
* - balls going in/out
* Driver control:
* - two buttons on joystick that toggle its states.
*/
class Sweeper: public Subsystem {
private:
Relay *relay;
bool isOn;
bool isIn;
public:
Sweeper();
void toggleOnOffState() { isOn = !isOn; }
void toggleInOutState(){ isIn = !isIn; }
void run(); // run Conveyor based on current state
void InitDefaultCommand();
};
#endif