turret.h

/* Turret.h
 *
 * Copyright (c) 2011, 2012 Chantilly Robotics <chantilly612@gmail.com>
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#ifndef INC_Turret_H
#define INC_Turret_H

#include <SpeedController.h>
#include <PIDController.h>
#include <Counter.h>
#include <AnalogChannel.h>
#include <DigitalInput.h>
#include "612.h"
#include "launch_counter.h"
#include "vision_alt.h"
#include "two_jags.h"
#include "shooter.h"
#include "turntable.h"
#include "winch.h"

class turret {
public:
    turret(SpeedController&, SpeedController&, SpeedController&, SpeedController&, Counter&, AnalogChannel&, DigitalInput&, DigitalInput&, DigitalInput&, DigitalInput&);
    ~turret();
    void align(target&);
    void enable();
    void disable();
    shooter& Shooter();
    winch& Winch();
    turntable& Susan();
private:
    turret() {}
    static void update_help(void*);
    void update();
    
    bool enabled;
    bool just_enabled;
    
    target * cur_target;

    turntable * lazy_susan;
    winch * winch_obj;
    shooter * shooter_wheels;
};


#endif