vex_pneumatic.h

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/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2023, All rights reserved.               */
/*                                                                            */
/*    Module:     vex_pneumatic.h                                             */
/*    Author:     James Pearman                                               */
/*    Created:    1 June 2023                                                 */
/*                                                                            */
/*    Revisions:                                                              */
/*                V1.00     TBD - Initial release                             */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef   VEX_PNEUMATIC_CLASS_H
#define   VEX_PNEUMATIC_CLASS_H
 
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namespace vex {
  class pneumatic : public device {
      
      public:
        pneumatic( int32_t index, bool bPumpEnable = true );  
        ~pneumatic();
    
        bool            installed();
        
        void            extend( cylinderType id );
        void            retract( cylinderType id );
        void            pumpOn();
        void            pumpOff();
        void            pump( bool state );
 
      protected:
        uint32_t        status();
      
      private:
        uint32_t        _lastCtrlTime;
        void            _ctrldelay();
  };
}
 
#endif // VEX_PNEUMATIC_CLASS_H