#ifndef BTCOLLECTOR_H_

#define BTCOLLECTOR_H_

#include "WPILib.h"

#include <stdio.h>

#include "math.h"

#include "BaeUtilities.h"

#include "Autonomous.h"

class BTCollector

{

public:

bool collectorJammed;

double lastLimitChangeTime;

BTCollector(void);

void Enable(BTAutonomous*);

void Disable(void);

void Reverse(void);

void DetectJam(void);

static const float COLLECTOR_MOTOR_SPEED = 1.0;

static const float COLLECTOR_SLOW_REVERSE = -0.25;

static const float COLLECTOR_FAST_REVERSE = -1.0;

private:

bool lastLimitPosition;

bool enabled;

Jaguar* collMotor;

DigitalInput* jamLimit;

static const float COLL_LIMIT_TIMEOUT = 1.0;

};

#endif