dent/Commands/Collector/RollIn.h

#ifndef ROLLIN_H
#define ROLLIN_H

#include "Commands/Command.h"
#include "../../CommandBase.h"
#include "../../DentRobot.h"
#include "WPILib.h"

/**
 * @brief Rolls collector motors in until a timeout is reached
 */
class RollIn: public Command{
  private:
    double rawSpeed; //<! Raw speed of the collector
  public:
    RollIn();
    /**
     * @brief Constructs RollIn
     *
     * @param double Timeout in seconds
     */
    RollIn(double);
    /**
     * @brief Initializes the class
     */
    void Initialize();
    /**
     * @brief Rolls the four collector motors in
     */
    void Execute();
    /**
     * @brief Checks if the command is finished
     *
     * @return True only if the timeout was reached
     */
    bool IsFinished();
    /**
     * @brief Sets the collector to stop
     */
    void End();
    /**
     * @brief Calls End()
     */
    void Interrupted();
};
#endif
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