Initial commit

include/EZ-Template/piston.hpp

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+/*
+This Source Code Form is subject to the terms of the Mozilla Public
+License, v. 2.0. If a copy of the MPL was not distributed with this
+file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+#pragma once
+
+#include "api.h"
+
+namespace ez {
+class Piston {
+ public:
+  /**
+   * Piston used throughout.
+   */
+  pros::adi::DigitalOut piston;
+
+  /**
+   * Piston constructor.
+   *
+   * The starting position of your piston defaults to false.
+   *
+   * \param input_port
+   *        the ports of your pistons
+   * \param default_state
+   *        starting state of your piston
+   */
+  Piston(int input_port, bool default_state = false);
+
+  /**
+   * Piston constructor in 3 wire expander.
+   *
+   * The starting position of your piston defaults to false.
+   *
+   * \param input_ports
+   *        the ports of your pistons
+   * \param default_state
+   *        starting state of your piston
+   */
+  Piston(int input_port, int expander_smart_port, bool default_state = false);
+
+  /**
+   * Sets the piston to the input.
+   *
+   * \param input
+   *        true sets to the opposite of the starting position
+   */
+  void set(bool input);
+
+  /**
+   * Returns current piston state.
+   */
+  bool get();
+
+  /**
+   * One button toggle for the piston.
+   *
+   * \param toggle
+   *        an input button
+   */
+  void button_toggle(int toggle);
+
+  /**
+   * Two buttons trigger the piston.  Active is enabled, deactive is disabled.
+   *
+   * \param active
+   *        sets piston to true
+   * \param active
+   *        sets piston to false
+   */
+  void buttons(int active, int deactive);
+
+ private:
+  bool reversed = false;
+  bool current = false;
+  int last_press = 0;
+};
+};  // namespace ez