public void calcEncoders() {
   leftFrontDriveEncoder.calc();
   rightFrontDriveEncoder.calc();
   leftRearDriveCounter.calc();
   rightRearDriveCounter.calc();
   catapultEncoder.calc();
   frontIntakeTiltPotentiometer.run();
   rearIntakeTiltPotentiometer.run();
 }
 public void resetEncoders() {
   leftFrontDriveEncoder.reset();
   rightFrontDriveEncoder.reset();
   leftRearDriveCounter.reset();
   rightRearDriveCounter.reset();
   catapultEncoder.reset();
   frontIntakeTiltPotentiometer.reset();
   rearIntakeTiltPotentiometer.reset();
   gyro.reset();
 }
  public void loadParameters() {

    double frontIntakePotentiometerLow = params.getAsDouble("P_FrontIntakeVoltageLow", 4.5);
    double frontIntakePotentiometerHigh = params.getAsDouble("P_FrontIntakeVoltageHigh", 0.5);
    double rearIntakePotentiometerLow = params.getAsDouble("P_RearIntakeVoltageLow", 4.5);
    double rearIntakePotentiometerHigh = params.getAsDouble("P_RearIntakeVoltageHigh", 0.5);

    frontIntakeTiltPotentiometer.setRange(
        frontIntakePotentiometerLow, frontIntakePotentiometerHigh);
    rearIntakeTiltPotentiometer.setRange(rearIntakePotentiometerLow, rearIntakePotentiometerHigh);
  }
 private void startEncoders() {
   // 1 foot = ??? clicks
   leftFrontDriveEncoder.start();
   rightFrontDriveEncoder.start();
   leftRearDriveCounter.start();
   rightRearDriveCounter.start();
   catapultEncoder.start();
   frontIntakeTiltPotentiometer.reset();
   rearIntakeTiltPotentiometer.reset();
   gyro.reset();
 }
  public SensorInput() {

    watchdog = Watchdog.getInstance();
    params = Parameters.getTeleopInstance();

    // ----- Encoders/Counters -----
    leftFrontDriveEncoder =
        new TorqueEncoder(
            Ports.LEFT_FRONT_DRIVE_ENCODER_SIDECAR,
            Ports.LEFT_FRONT_DRIVE_ENCODER_A_PORT,
            Ports.LEFT_FRONT_DRIVE_ENCODER_SIDECAR,
            Ports.LEFT_FRONT_DRIVE_ENCODER_B_PORT,
            false);
    leftRearDriveCounter =
        new TorqueCounter(
            Ports.LEFT_REAR_DRIVE_ENCODER_SIDECAR, Ports.LEFT_REAR_DRIVE_ENCODER_PORT);
    rightFrontDriveEncoder =
        new TorqueEncoder(
            Ports.RIGHT_FRONT_DRIVE_ENCODER_SIDECAR,
            Ports.RIGHT_FRONT_DRIVE_ENCODER_A_PORT,
            Ports.RIGHT_FRONT_DRIVE_ENCODER_SIDECAR,
            Ports.RIGHT_FRONT_DRIVE_ENCODER_B_PORT,
            false);
    rightRearDriveCounter =
        new TorqueCounter(
            Ports.RIGHT_REAR_DRIVE_ENCODER_SIDECAR, Ports.RIGHT_REAR_DRIVE_ENCODER_PORT);

    catapultEncoder =
        new TorqueEncoder(
            Ports.CATAPULT_ENCODER_SIDECAR,
            Ports.CATAPULT_ENCODER_A_PORT,
            Ports.CATAPULT_ENCODER_SIDECAR,
            Ports.CATAPULT_ENCODER_B_PORT,
            false);

    // ----- Gyro -----
    gyroChannel = new AnalogChannel(Ports.GYRO_PORT);
    gyro = new Gyro(gyroChannel);
    gyro.reset();
    gyro.setSensitivity(Constants.GYRO_SENSITIVITY);

    // ----- Potentiometers -----

    rearIntakeTiltPotentiometer = new TorquePotentiometer(Ports.REAR_INTAKE_TILT_POT_PORT);
    frontIntakeTiltPotentiometer = new TorquePotentiometer(Ports.FRONT_INTAKE_TILT_POT_PORT);
    frontIntakeTiltPotentiometer.setRange(
        Constants.FRONT_INTAKE_POTENTIOMETER_LOW, Constants.FRONT_INTAKE_POTENTIOMETER_HIGH);
    rearIntakeTiltPotentiometer.setRange(
        Constants.REAR_INTAKE_POTENTIOMETER_LOW, Constants.REAR_INTAKE_POTENTIOMETER_HIGH);

    // ----- Buttons -----
    catapultLimitSwitch =
        new DigitalInput(Ports.CATAPULT_LIMIT_SWITCH_B_SIDECAR, Ports.CATAPULT_LIMIT_SWITCH_B_PORT);
    catapultLimitSwitchB =
        new DigitalInput(Ports.CATAPULT_LIMIT_SWITCH_SIDECAR, Ports.CATAPULT_LIMIT_SWITCH_PORT);
    frontIntakeButton = new DigitalInput(Ports.INTAKE_BUTTON_SIDECAR, Ports.FRONT_INTAKE_BUTTON);
    rearIntakeButton = new DigitalInput(Ports.INTAKE_BUTTON_SIDECAR, Ports.REAR_INTAKE_BUTTON);

    // pressureSensor = new AnalogChannel(Ports.ANALOG_PRESSURE_PORT);
    startEncoders();
  }
 public double getFrontIntakeTiltVoltage() {
   return frontIntakeTiltPotentiometer.getRaw();
 }
 public double getRearIntakeTiltVoltage() {
   return rearIntakeTiltPotentiometer.getRaw();
 }
 public double getRearIntakeTiltPotentiometer() {
   return rearIntakeTiltPotentiometer.get();
 }
 public double getFrontIntakeTiltPotentiometer() {
   return frontIntakeTiltPotentiometer.get();
 }