1 files changed, 40 insertions, 0 deletions
diff --git a/lift.hpp b/lift.hpp
new file mode 100644
index 0000000..af4de4d
--- /dev/null
+++ b/lift.hpp
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+/**
+ * @file lift.hpp
+ * @brief A system to handle all lift operations, using a quadrature
+ * encoder. 
+ */
+
+#ifndef LIFT_HPP_
+#define LIFT_HPP_
+
+namespace lift {
+	/**
+	 * Initializes the lift system.
+	 */
+	void init(void);
+
+	/**
+	 * Sets the lift to the specified encoder value.
+	 * This value is kept between -10 and the maximum height.
+	 * @param target the target value to reach
+	 * @see liftMaxHeight
+	 */
+	void set(const int& target);
+
+	/**
+	 * Increases the lift's target.
+	 */
+	void raise(void);
+
+	/**
+	 * Decreases the lift's target.
+	 */
+	void lower(void);
+}
+
+/**
+ * Defines the highest encoder count the lift can reach.
+ */
+constexpr int liftMaxHeight = 110;
+
+#endif // LIFT_HPP_