Vacuum.cpp

#include "Vacuum.h"
#include "CANJaguar.h"
#include "WPILib.h"
#include "Input.h"
#include "CodeLevel.h"

#include "RedAlertJaguar.h"

Vacuum::Vacuum()
{
	
}
void Vacuum::initVac(UINT8 wutJag,Input*in){
	this->input = in;
	vacuumJag = new CANJaguar(wutJag,CANJaguar::kPercentVoltage);
	/*vacuumJag = new RedAlertJaguar(wutJag, CANJaguar::kPercentVoltage,
			GetLevel() == 66 ?  RedAlertJaguar::kStub : RedAlertJaguar::kCANJaguar); */
	vacuumJag->SetVoltageRampRate(3.0);
	
}

void Vacuum::suck() {
		if (input->shouldFullSuck()==true) {
			fullPower();
		} else {
			zeroPower();
		}
}

void Vacuum::fullPower(){
	vacuumJag->Set(1);
}
void Vacuum::halfPower(){
	vacuumJag->Set(.5);
}
void Vacuum::zeroPower(){
	vacuumJag->Set(0);
}
void userControl(int power){
}

float Vacuum::GetCurrent() {
	return vacuumJag->GetOutputCurrent();
}
bool Vacuum::checkPosession(){
	
	return (vacuumJag->Get() > 0) && (this->GetCurrent() < 9);
}