/// <summary>
/// Default constructor
/// </summary>
/// <param name="machineID">The unique id for this machine</param>
/// <param name="clawServo">The servo connected to the claw</param>
/// <param name="motorX">TicMotor for handling the x axis of the claw</param>
/// <param name="motorY">TicMotor for handling the y axis of the claw</param>
/// <param name="winchMotor">TicMotor for handling the winch</param>
/// <param name="webcamName">The unique ID that points to the webcam</param>
/// <remarks>x and y axis are from the top down view</remarks>
public ClawMachine(string machineID, Servo clawServo, TicMotor motorX, TicMotor motorY, TicMotor winchMotor, string webcamName) : base(machineID)
{
this.clawServo = clawServo;
this.xMotor = motorX;
this.yMotor = motorY;
this.winchMotor = winchMotor;
this.webcamName = webcamName;
}
/// <summary>
/// Default constructor
/// </summary>
/// <param name="machineID">The unique ID assigned to this machine</param>
/// <param name="cannonMotor">The motor that controls the power of the cannon</param>
/// <param name="xMotor">The motor that controlls the xy axis of the cannon</param>
/// <param name="aimingServo">The servo used for aiming the cannon</param>
/// <param name="firingServo">The servo used for pushing the ammo into the motor to be fired</param>
public MilkBottle(string machineID, BrushedDCMotor cannonMotor, TicMotor xMotor, Servo aimingServo, Servo firingServo) : base(machineID)
{
this.fireMotor = cannonMotor;
this.xMotor = xMotor;
this.aimServo = aimingServo;
this.fireServo = firingServo;
this.fireMotor.SetSpeed((int)BrushedDCMotor.CONSTANTS.MAX_SPEED);
}
private string webcamName; // might need to be an int or called webcamID
#region TestCode
#if DEBUG
/// <summary>
/// Test code, used for testing the gRPC connection, allows the claw machine to be created without any parameters
/// </summary>
/// <param name="machineID">Unique machine id</param>
public ClawMachine(string machineID) : base(machineID)
{
this.clawServo = new Servo(new Maestro(""), 0);
this.xMotor = new TicMotor();
this.yMotor = new TicMotor();
this.winchMotor = new TicMotor();
this.webcamName = "";
}
/// <summary>
///
/// </summary>
/// <param name="machineID"></param>
/// <param name="cannonMotor"></param>
/// <param name="aimServo"></param>
/// <param name="fireServo"></param>
/// <param name="xMotor"></param>
public SkeeBall(string machineID, BrushedDCMotor cannonMotor, Servo aimServo, Servo fireServo, TicMotor xMotor) : base(machineID)
{
this.cannonMotor = cannonMotor;
this.aimServo = aimServo;
this.xMotor = xMotor;
this.fireServo = fireServo;
this.cannonMotor.SetSpeed((int)BrushedDCMotor.CONSTANTS.MAX_SPEED);
}
